Design of agricultural wheeled mobile robot based on autonomous navigation and omnidirectional steering

For raising automation level of farm operation, an agricultural wheeled-mobile robot was designed on the basis of the research on the intelligent sensor, information and automatic navigation. Aiming at some of the current problems on handle and path tracking, the omni-directional steering was adopted, which made the robot agility on steering. The efficiency of communication on modules such as navigation and control has been improved highly by the application of CAN-BUS. The intelligence of the mobile robot has been improved through the use of the fuzzy controller which was designed by imitating the human’s control strategy. The simulation and experiment indicate that the robot’s steering performance is property and the path tracking error is 0.1 m when the velocity is 1 m/s.