A Modeling and Simulation based on the Multibody Dynamics for an Autonomous Agricultural Robot

摘要

The purpose of this study is to develop an agricultural robot and its autonomous driving algorithm that can be used in field farming. Actually, it is difficult to develop and verify a control algorithm for autonomous agricultural robot that is exposed to various disturbance conditions in an outdoor environment. Recently, various analysis methods have been used to perform mechanical analysis and verification of control algorithms of robots. Although analytical techniques have the advantage of reducing development time and risk, they must be accompanied by accurate dynamic modeling techniques. In this paper, an accurate model using the closed dynamic of field agricultural robot was developed, and an autonomous driving algorithm based on the dynamic model was developed. To verify the algorithm, we dealt with co-simulation model that consist both ADAMS and Matlab-simulink. Using the developed model, we carried out various dynamics simulation in the several road conditions.