A PID-based control architecture for mobile robot path planning in greenhouses

Abstract

This article presents a control strategy for an Ackermann mobile robot designed for greenhouse operation, based on a cascade control mechanism. It controls both, (i) an inner loop, based on PID, for two motors, and (ii) a classic Pure Pursuit control for the outer loop. In addition, a feedforward control strategy is proposed to address the issue of the natural variable terrain in greenhouses in southern Spain. Path following will be evaluated using a 2D model of the experimental greenhouse to obtain coordinates that will be assessed in simulation. Open-loop tests were conducted on a real agricultural robot prototype, AGRICOBIOT II, designed and built at the University of Almeria.