DEVELOPMENT OF AN AGRICULTURE ROBOT FOR ROW-TYPE SEED SOWING APPLICATIONS

DEVELOPMENT OF AN AGRICULTURE ROBOT FOR ROW-TYPE SEED SOWING APPLICATIONSAbstractIn this study, the design and development of an agriculture robot which has row type seed sowing feature are presented. The robot consists of four subsystems; a four-wheel mobile platform, a digger mechanism, a seed dropping mechanism, and an irrigation mechanism. The electrical and mechanical designs of the robot are performed depending on the specified design criteria. System control software and user interface are developed considering stakeholder expectations. Designed subsystems are manufactured and integrated. Furthermore, robot functionality tests are performed and the desired performance of the agriculture robot is validated by the test results. The robot is remotely operated via an Android application on a mobile phone and all operation data can be monitored via this android application. Additionally, the robot can perform the row-type seed sowing operation in an autonomous mode. The developed agriculture robot has the potential to provide an efficient and inexpensive way for future seed sowing applications.Keywords: Agriculture Robot, Row-type Seed Sowing, Android Application, Remote Control.SIRALI TİP TOHUM EKİM UYGULAMALARI İÇİN TARIM ROBOTU GELİŞTİRİLMESİÖzetBu çalışmada, sıralı ekim yapan bir tarım robotunun tasarımı ve geliştirilmesi gösterilmiştir. Robot dört tekerlekli mobil platform, kazıcı mekanizması, tohum düşürme mekanizması ve sulama mekanizması olmak üzere dört altsistemden oluşmaktadır. Robotun elektrik ve mekanik tasarımı belirlenen tasarım kriterlerine bağlı olarak gerçekleştirilmiştir. Sistem kontrol yazılımı ve kullanıcı arayüzü paydaş beklentileri göz önüne alınarak geliştirilmiştir. Tasarlanmış olan alt sistemler üretilmiş ve entegre edilmiştir. Buna ek olarak, robot fonksiyonel testleri gerçekleştirilmiş ve tarım robotunun istenen performansı test sonuçları ile doğrulanmıştır. Robot, bir cep telefonu Android uygulaması üzerinden uzaktan kontrol edilmekte ve tüm operasyon verileri bu uygulama üzerinden izlenebilmektedir. Ayrıca, robot sıralı ekim işlemini otonom çalışma modunda da gerçekleştirebilmektedir. Geliştirilen tarım robotu, gelecekteki tohum ekim uygulamaları için ucuz ve efektif bir alternatif sağlama potansiyeline sahiptir.Anahtar Kelimeler: Tarım Robotu, Sıralı Tohum Ekimi, Android Uygulaması, Uzaktan Kontrol

Mobile Robot Path Following Controller Based On the Sirms Dynamically Connected Fuzzy Inference Model

This paper presents a simple and effective way to implement a path following controller for a differential drive wheeled mobile robot based on the single input rule modules (SIRMs) dynamically connected fuzzy inference model. The control of the mobile robot is divided into two control actions performed in parallel; the heading and the velocity controller. For the heading controller, each input item is assigned with a SIRM and a dynamic importance degree (DID). The velocity controller structure was modified to simplify the design and to fulfill the requirements of the path following method. Here, a common DID is used. The SIRMs and the dynamic importance degrees are designed such that the angular velocity control takes the highest priority over the linear velocity control of the mobile robot. By using the SIRMs and the dynamic importance degrees, the priority orders of the controls are automatically adjusted according to navigation situations. The proposed fuzzy controller has a simple and intuitively understandable structure, and executes the two control actions entirely in parallel. Simulation results show that the proposed fuzzy controller can drive a mobile robot smoothly with a high precision through a series of waypoints to attain its final target in short time

Mobile Robot Path Following Controller Based On the Sirms Dynamically Connected Fuzzy Inference Model

This paper presents a simple and effective way to implement a path following controller for a differential drive wheeled mobile robot based on the single input rule modules (SIRMs) dynamically connected fuzzy inference model. The control of the mobile robot is divided into two control actions performed in parallel; the heading and the velocity controller. For the heading controller, each input item is assigned with a SIRM and a dynamic importance degree (DID). The velocity controller structure was modified to simplify the design and to fulfill the requirements of the path following method. Here, a common DID is used. The SIRMs and the dynamic importance degrees are designed such that the angular velocity control takes the highest priority over the linear velocity control of the mobile robot. By using the SIRMs and the dynamic importance degrees, the priority orders of the controls are automatically adjusted according to navigation situations. The proposed fuzzy controller has a simple and intuitively understandable structure, and executes the two control actions entirely in parallel. Simulation results show that the proposed fuzzy controller can drive a mobile robot smoothly with a high precision through a series of waypoints to attain its final target in short time