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research-article

Development of PID and Fuzzy Control Strategies for Navigation in Agricultural Environments

[+] Author and Article Information
Stephanie Bonadies

University of Maryland, Baltimore County, Baltimore, MD, 21250
stephb3@umbc.edu

Neal Smith

University of Maryland, Baltimore County, Baltimore, MD, 21250
s50@umbc.edu

Nathan Niewoehner

University of Maryland, Baltimore County, Baltimore, MD, 21250
nniewoe1@umbc.edu

Andrew Lee

School of Engineering, The University of Guelph, Ontario, Canada, N1G 2W1
alee32@uoguelph.ca

Alan M Lefcourt

The United States Department of Agriculture, Beltsville, MD 20705
alan.lefcourt@ars.usda.gov

S. Andrew Gadsden

ASME Member, School of Engineering, The University of Guelph, Ontario, Canada, N1G 2W1
gadsden@uoguelph.ca

1Corresponding author.

ASME doi:10.1115/1.4038504 History: Received September 30, 2016; Revised November 07, 2017

Abstract

Farming and agriculture is an area that may benefit from improved use of automation in order to increase working hours and improve food quality and safety. In this paper, a commercial robot was purchased and modified, and crop row navigational software was developed, to allow the ground-based robot to autonomously navigate a crop row setting. A proportional-integral-derivative (PID) controller and a fuzzy logic controller were developed to compare the efficacy of each controller based on which controller navigated the crop row more reliably. Results of the testing indicate that both controllers perform well, with some differences depending on the scenario.

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