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- W2920998239 abstract "Summary Recently, autonomous field robots have been investigated as a labor-reducing means to scout through commercial strawberry fields for disease detection or fruit harvesting. To achieve accurate over-bed and cross-bed motions, it is preferred to design the motion controller based on a precise dynamic model. Here, a dynamic model is developed for a custom-designed strawberry field robot considering terramechanic wheel–terrain interaction. Different from existing models, a torus geometry is considered for the wheels. In order to obtain a control affine model, the longitudinal force is curve-fitted using a polynomial function of the slip/skid ratio, while the lateral force is curve-fitted using an exponential function of both the slip/skid ratio and slip angle. An extended Kalman filter (EKF) is then developed to estimate the unknown parameters in the approximated model such that the state variables propagated by such a model can match experimental data. The approximated model and the EKF-based parameter estimation method are then validated in a commercial strawberry farm." @default.
- W2920998239 created "2019-03-22" @default.
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- W2920998239 date "2019-03-05" @default.
- W2920998239 modified "2023-09-27" @default.
- W2920998239 title "An Approximated, Control Affine Model for a Strawberry Field Scouting Robot Considering Wheel–Terrain Interaction" @default.
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- W2920998239 doi "https://doi.org/10.1017/s0263574719000134" @default.
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