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Design and Implementation of Fuzzy Logic Controller for Online Computer Controlled Steering System for Navigation of a Teleoperated Agricultural Vehicle

机译:遥控农用车在线计算机控制转向系统模糊逻辑控制器的设计与实现

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摘要

This paper describes design, modeling, simulation, control, and implementation of teleoperated agricultural vehicle using intelligent technique. This vehicle can be used for ploughing, sowing, and soil moisture sensing. Online computer controlled steering system for a vehicle utilizing two independent drive wheels can be used to avoid obstacles and to improve the ability to resist external side forces. To control the steer angles of the nondriven wheels, the mathematical relationships between the drive wheel speeds and the steer angles of the nondriven wheels are used. A fuzzy logic controller is designed to change the drive wheel speeds and to achieve the desired steer angles. Online control of the agricultural vehicle is achieved from a remote place by means of Web Publishing Tool in LabVIEW. IR sensors in the vehicle are used to detect and to avoid the obstacles around. The developed steering angle control algorithm and fuzzy logic controller have been implemented in an agricultural vehicle which depicts that the vehicle performs its operation efficiently and reduces the manpower and becomes advantageous.
机译:本文介绍了使用智能技术的遥控农用车辆的设计,建模,仿真,控制和实现。该车辆可用于耕作,播种和土壤湿度感测。利用两个独立驱动轮的车辆的在线计算机控制转向系统可用于避免障碍物并提高抵抗外部力的能力。为了控制非驱动轮的转向角,使用了驱动轮速度和非驱动轮的转向角之间的数学关系。模糊逻辑控制器设计用于改变驱动轮速度并实现所需的转向角。通过LabVIEW中的Web发布工具可从远程位置对农用车辆进行在线控制。车辆中的红外传感器用于检测并避开周围的障碍物。已经在农用车辆中实现了开发的转向角控制算法和模糊逻辑控制器,该农用车辆描述了该车辆有效地执行其操作并且减少了人力并且变得有利。

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  • 来源
    《Mathematical Problems in Engineering》 |2013年第17期|590861.1-590861.10|共10页
  • 作者单位

    SRM Univ, Dept Elect & Instrumentat Engn, Madras 603203, Tamil Nadu, India.;

    Mepco Schlenk Engn Coll, Dept Elect & Elect Engn, Sivakasi 626005, Tamil Nadu, India.;

    SRM Univ, Dept Elect & Elect Engn, Madras 603203, Tamil Nadu, India.;

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  • 入库时间 2022-08-17 13:54:33

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