Implementation of a four-wheel drive agricultural mobile robot for crop/soil information collection on the open field

In order to complete the complex operation in the dangerous environment and improve the efficiency and accuracy of industrial production. WiFi based remote control system platform is composed by the controlled mobile robot and control terminal such as PC. They communicate with each other through wireless network. The mobile robot constructs of four wheel drive. Microcontroller, sensor, wireless routing module, serial server and network camera are in the robot. Control terminal includes PC, control handle and other equipments. Using a proven and reliable wireless bridge, each network device can realize network communication with others. Based on the TCP/IP protocol, using socket programming technology, data communication can be achieved. Video capture uses the network camera. Through the test of the platform, bilateral operation with real-time haptic and video feedback are achieved. At the same time according to the real-time environmental information feedback, control terminal realizes the effective remote monitoring in the controlled end.

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Mechatronic Design of a Four-Wheel drive mobile robot and differential steering

MATEC Web of Conferences ◽

10.1051/matecconf/202134308003 ◽

2021 ◽

Vol 343 ◽

pp. 08003

Author(s):

Mihai Crenganis ◽

Cristina Biris ◽

Claudia Girjob

Keyword(s):

Mobile Robot ◽

Mobile Platform ◽

Wheel Drive ◽

Differential Steering ◽

General Aspects ◽

Four Wheel Drive ◽

And Control ◽

High Degree ◽

Future Work ◽

Important Objective

This paper presents, the development of an autonomous mobile robot with a four-wheel drive and differential locomotion. The mobile robot was developed in the Machines and Industrial Equipment Department from the Engineering Faculty of Sibiu. The main purpose of developing this type of mobile platform was the ability to transport different types of cargo either in industrial spaces or on rough terrain. Another important objective was that this platform could be driven in confined or tight spaces where a high degree of manoeuvrability is necessary. The great advantage of this type of mobile platform is the ability to navigate through narrow spaces due to the type of locomotion implemented. The fact that the robot has four driving wheels gives it the ability to travel on rough surfaces and easily bypass obstacles. Another great advantage of the developed mobile robot is that it has a reconfigurable structure. The drivetrain is interchangeable, it can adopt both classic wheels and Mecanum wheels. The first part of the paper presents some general aspects concerning mobile robots and two types of traction wheels used in mobile robotic structures. Subsequently, the paper presents the steps taken in the development of the mobile wheeled platform. At the end of the paper, the electronic part that will be implemented in the structure of the robot is described. The command and control of the entire mobile platform will be described in some future work.

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Wheel Slip Classification Method for Mobile Robot in Sandy Terrain Using In-Wheel Sensor

Journal of Robotics and Mechatronics ◽

10.20965/jrm.2017.p0902 ◽

2017 ◽

Vol 29 (5) ◽

pp. 902-910

Author(s):

Takuya Omura ◽

◽

Genya Ishigami

Keyword(s):

Mobile Robot ◽

Normal Force ◽

Learning Algorithm ◽

Machine Learning Algorithm ◽

Exit Angle ◽

Test Bed ◽

Wheel Slip ◽

Wheel Drive ◽

Wheel Sensor ◽

Four Wheel Drive

This paper proposes a method that can estimate and classify the magnitude of wheel slippage for a mobile robot in sandy terrains. The proposed method exploits a sensor suite, called an in-wheel sensor, which measures the normal force and contact angle at the wheel-sand interaction boundary. An experimental test using the in-wheel sensor reveals that the maximum normal force and exit angle of the wheel explicitly vary with the magnitude of the wheel slippage. These characteristics are then fed into a machine learning algorithm, which classifies the wheel slippage into three categories: non-stuck wheel, quasi-stuck wheel, and stuck wheel. The usefulness of the proposed method for slip classification is experimentally evaluated using a four-wheel-drive test bed rover.

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