Development of the Architecture of the Base Platform Agricultural Robot for Determining the Trajectory Using the Method of Visual Odometry

摘要

The article analyzes the existing chassis designs for agricultural robots, proposes to use a wheeled mobile platform with elements of stabilization of the base platform with independent drives and with the possibility of steering each wheel. The paper presents a kinematic model of the robotic platform and the equation of kinematics of a platform to determine the speed of any point of the robot. The structural scheme of the motion control system of the selected platform design is developed. To determine the trajectory of the agricultural robot, it is proposed to use of a global positioning system in conjunction with a subsystem of visual odometry to accurately determine the local coordinates. Software was developed and an experimental study was conducted to determine the accuracy of movement on a given trajectory.