Weeds management is a repetitive and crucial task for agricultural settings. This paper considers a four-wheeled robot, called Vitirover, designed for grass-cutting and weed management tasks in vineyards. The robot steering mechanism employs differential rotation of rear wheels, mounted on a universal joint. First, the kinematic model of the robot is derived. Next, based on the kinematic model, a Model Predictive Control (MPC) formulation is designed to encourage the robot to follow a desired path while targeting weeds in the environment using dynamic weights. Simulation results in Gazebo simulator are provided to validate the overall system.
Gallou, J., Lippi, M., Galle, M., Marino, A., Gasparri, A. (2024). Modeling and Control of the Vitirover Robot for Weed Management in Precision Agriculture. In 10th 2024 International Conference on Control, Decision and Information Technologies, CoDIT 2024 (pp.2670-2675). Institute of Electrical and Electronics Engineers Inc. [10.1109/CoDIT62066.2024.10708484].
Modeling and Control of the Vitirover Robot for Weed Management in Precision Agriculture
Gallou J.;Lippi M.;Gasparri A.
2024-01-01
Abstract
Weeds management is a repetitive and crucial task for agricultural settings. This paper considers a four-wheeled robot, called Vitirover, designed for grass-cutting and weed management tasks in vineyards. The robot steering mechanism employs differential rotation of rear wheels, mounted on a universal joint. First, the kinematic model of the robot is derived. Next, based on the kinematic model, a Model Predictive Control (MPC) formulation is designed to encourage the robot to follow a desired path while targeting weeds in the environment using dynamic weights. Simulation results in Gazebo simulator are provided to validate the overall system.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
