Two-Stage Guidance Control Scheme for High- Precision Straight-Line Navigation of a Four- Wheeled Planting Robot in a Greenhouse

Abstract. Although agricultural robots are intended to move in straight lines in fields, they may yaw off the track because of tire slippage, surface unevenness, uneven weight distribution, or other factors. Many position-guiding technologies have been developed for agricultural robots, but their high costs have resulted in limited real-world use. Moreover, the use of large farming machinery in conjunction with the enormous tractors that are used to perform farm work can result in the destruction of cultivated land. This article presents the design and implementation of a low-cost planting robot with the capability of high-precision straight-line navigation. A two-stage guidance control scheme is proposed to regulate the robot‘s heading angle and minimize the lateral error in straigh