PARTICLE SWARM OPTIMIZATION-BASED OPTIMAL PID CONTROL OF AN AGRICULTURAL MOBILE ROBOT

Basit Öğe Kaydı
dc.contributor.authorGokce, Baris
dc.contributor.authorKoca, Yavuz Bahadir
dc.contributor.authorAslan, Yilmaz
dc.contributor.authorGokce, Celal Onur
dc.date.accessioned2024-02-23T14:44:50Z
dc.date.available2024-02-23T14:44:50Z
dc.date.issued2021
dc.departmentNEÜen_US
dc.description.abstractThis study involved the motion control of a four-wheel drive robot for use in agriculture. A mathematical model was used to perform a systematic kinematic and dynamic analysis of a four-wheel skid-steer agrobot. The dynamic model of the agrobot was based on a kinematic analysis of its non-holonomic structure. Polar space kinematic and dynamic control methods were proposed for both trajectory tracking and stabilization of the mobile agrobot, which incorporated four equally-spaced skid-steer wheels. Particle swarm optimization (PSO) was used to optimize the parameters of a proportional-integral-derivative (PID) controller. The aim of the control strategy was to solve the problem using control elements. The system was implemented in a simulation program, and a system performance analysis was performed. Simulation results demonstrated the robustness and stability of the motion control system under various conditions. The proposed routing control strategy was found to possess the advantage of smooth path-tracking.en_US
dc.identifier.doi10.7546/CRABS.2021.04.12
dc.identifier.endpage575en_US
dc.identifier.issn1310-1331
dc.identifier.issue4en_US
dc.identifier.scopus2-s2.0-85107334883en_US
dc.identifier.scopusqualityQ3en_US
dc.identifier.startpage568en_US
dc.identifier.urihttps://doi.org/10.7546/CRABS.2021.04.12
dc.identifier.urihttps://hdl.handle.net/20.500.12452/17137
dc.identifier.volume74en_US
dc.identifier.wosWOS:000655273700012en_US
dc.identifier.wosqualityQ4en_US
dc.indekslendigikaynakWeb of Scienceen_US
dc.indekslendigikaynakScopusen_US
dc.language.isoenen_US
dc.publisherPubl House Bulgarian Acad Scien_US
dc.relation.ispartofComptes Rendus De L Academie Bulgare Des Sciencesen_US
dc.relation.publicationcategoryMakale - Uluslararası Hakemli Dergi - Kurum Öğretim Elemanıen_US
dc.rightsinfo:eu-repo/semantics/closedAccessen_US
dc.subjectKinematic Analysisen_US
dc.subjectDynamic Analysisen_US
dc.subjectPsoen_US
dc.subjectMobile Roboten_US
dc.subjectAgricultureen_US
dc.subjectRobot Controlen_US
dc.titlePARTICLE SWARM OPTIMIZATION-BASED OPTIMAL PID CONTROL OF AN AGRICULTURAL MOBILE ROBOTen_US
dc.typeArticleen_US

Dosyalar

Koleksiyon

WoS İndeksli Yayınlar Koleksiyonu
Scopus İndeksli Yayınlar Koleksiyonu