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The Study of Path Planning and Precise Seeding of a Seeding Robot
Published by the American Society of Agricultural and Biological Engineers, St. Joseph, Michigan www.asabe.org
Citation: 2018 ASABE Annual International Meeting 1800818.(doi:10.13031/aim.201800818)
Authors: Shixiong Li, Luofeng Zheng, Zhang Xiao, Liu Yang, Haotun Lv, Yongjun Zheng
Keywords: path planning,PID algorithm;maize-seeding robot, agriculture.
Abstract. With the development of modern agriculture, intelligent agricultural equipment has been used more and more widely with the characteristics of high efficiency. Currently maize planting mainly depends on traditional implements without detection devices so that the accuracy of seeding is not perfect. Therefore, it is significant to establish a type of equipment with the function of detection of processing of seeding to increase the yield of maize. This paper developed a maize- seeding robot to improve the accuracy of processing of seeding, while it is important for this robot to do path-planning during precise seeding. This robot detects the angles of movement mainly by gyroscope and measures the distances by ultrasonic sensors . It keeps moving in straight paths via the PID algorithm and achieves the accurate seeding and positioning using stepping motors.The motion law of the seeding robot was analyzed by computer simulation,which provides the basis of design of the seeding robot. Moreover, the software, CROW, was used to build and assemble the model of the robot and the virtual design of the drum planter of the robot was developed. Furthermore, the software, MATLAB, was used to simulate the working process of the robot. ,Then, an experiment of verification was conducted to test the consistency between the simulation and the real results, indicating that the results met the requirements of expectation of the simulation and the robot could give a reference to the real seeding of maize..
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