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Agricultural Service Mobile Robot Modeling and Control Using Artificial Fuzzy Logic and Machine Vision

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The International Conference on Advanced Machine Learning Technologies and Applications (AMLTA2019) (AMLTA 2019)

Part of the book series: Advances in Intelligent Systems and Computing ((AISC,volume 921))

Abstract

This paper represents modeling and control of an agricultural service skid steering mobile robot for the purposes of grass cutting using Proportional-Integral-Derivative (PID) controller and Fuzzy Logic techniques and feedback signals from sensors as IMU, encoders, and Machine Vision. The paper deals with the system modeling into two methods: The first is using Fuzzy modeling as a modeling tool for complex nonlinear system, the second is using MATLAB software system Identification Tool. The study Uses PID, Fuzzy logic controller and fuzzy self-tuning of PID controller to control the path tracking of the skid steering mobile robot and improve its response. Utilizing Machine vision provides better results than that of the IMU sensor and the encoders. The fuzzy self-tuning of PID controller shows better dynamic results than the fuzzy logic and PID controllers.

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Author information

Authors and Affiliations

  1. School of Engineering and Applied Sciences, Nile University Campus, Sheikh Zayed District, Egypt

    Mohamed Hesham Barakat, Ahmad Taher Azar & Hossam Hassan Ammar

  2. Faculty of Computers and Information, Benha University, Benha, Egypt

    Ahmad Taher Azar

Authors
  1. Mohamed Hesham Barakat
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  2. Ahmad Taher Azar
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  3. Hossam Hassan Ammar
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Corresponding author

Correspondence to Ahmad Taher Azar .

Editor information

Editors and Affiliations

  1. Faculty of Computers and Information, Cairo University, Giza, Egypt

    Aboul Ella Hassanien

  2. Faculty of Computers and Information, Benha University, Benha, Egypt

    Ahmad Taher Azar

  3. School of Computing, Science and Engineering, University of Salford, Salford, Greater Manchester, UK

    Tarek Gaber

  4. Department of Computer Science and Engineering, School of Computing and IT, Faculty of Engineering, Manipal University Jaipur, Jaipur, Rajasthan, India

    Roheet Bhatnagar

  5. Faculty of Computer and Information Science, Ain Shams University, Cairo, Egypt

    Mohamed F. Tolba

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Barakat, M.H., Azar, A.T., Ammar, H.H. (2020). Agricultural Service Mobile Robot Modeling and Control Using Artificial Fuzzy Logic and Machine Vision. In: Hassanien, A., Azar, A., Gaber, T., Bhatnagar, R., F. Tolba, M. (eds) The International Conference on Advanced Machine Learning Technologies and Applications (AMLTA2019). AMLTA 2019. Advances in Intelligent Systems and Computing, vol 921. Springer, Cham. https://doi.org/10.1007/978-3-030-14118-9_46

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