Volume 9 Number 4 (Apr. 2014)
Home > Archive > 2014 > Volume 9 Number 4 (Apr. 2014) >
JSW 2014 Vol.9(4): 881-888 ISSN: 1796-217X
doi: 10.4304/jsw.9.4.881-888

A Fuzzy Path Preview Algorithm for the Rice Transplanting Robot Navigation System

Zhiyan Zhou, Zhigang Zhang, Xiwen Luo
College of Engineering, South China Agricultural University, Guangzhou 510642, China

Abstract—Path preview is the key to realizing automatic navigation control that can guide the navigational direction of the vehicle trace. The preview point must be regulated dynamically according to the predetermined navigational features of the actual path preview control to obtain the ideal path trace result. Based on the “preview follower theory” combined with the driver’s experience and utilizing the Matlab (The MathWorks, Inc., Natick, Massachusetts, USA) fuzzy control toolbox, a fuzzy algorithm of the preview point has been proposed in the paper. The navigation control system embedded in the path planning and preview control algorithm has been applied in the experiment to trace a predetermined navigational straight way, 90°curve and arc way to operate a rice transplanting robot. The results showed that the lateral DRMS (distance root mean square error) of the straight trace is approximately 0.33 m, and the maximum error is approximately 0.71 m; the lateral DRMS of the 90°curve trace is approximately 0.73 m, and the maximum error is approximately 1.85 m; the lateral DRMS of the arc way trace is approximately 1.03 m, and the maximum error is approximately 2.56 m; and the total mean error is approximately 0.6 m. According to the outcome of the experiment, the relevant algorithm can basically meet the requirements of rice transplanting robot guidance.

Index Terms—Automatic navigation control, Path preview, Fuzzy, Rice Transplanting Robot, Navigation system

[PDF]

Cite: Zhiyan Zhou, Zhigang Zhang, Xiwen Luo, "A Fuzzy Path Preview Algorithm for the Rice Transplanting Robot Navigation System," Journal of Software vol. 9, no. 4, pp. 881-888, 2014.

General Information

ISSN: 1796-217X (Online)
Frequency:  Bimonthly (Since 2020)
Editor-in-Chief: Prof. Antanas Verikas
Executive Editor: Ms. Yoyo Y. Zhou
Abstracting/ Indexing: DBLP, EBSCO, Google Scholar, ProQuest, INSPEC(IET), ULRICH's Periodicals Directory, WorldCat, etc
E-mail: jsw@iap.org
  • Apr 26, 2021 News!

    Vol 14, No 4- Vol 14, No 12 has been indexed by IET-(Inspec)     [Click]

  • Jun 22, 2020 News!

    Papers published in JSW Vol 14, No 1- Vol 15 No 4 have been indexed by DBLP     [Click]

  • Sep 13, 2021 News!

    The papers published in Vol 16, No 6 have all received dois from Crossref    [Click]

  • Jan 28, 2021 News!

    [CFP] 2021 the annual meeting of JSW Editorial Board, ICCSM 2021, will be held in Rome, Italy, July 21-23, 2021   [Click]

  • Sep 13, 2021 News!

    Vol 16, No 6 has been published with online version     [Click]