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Abstract.

In order to deal with the drawbacks of auto-recharging methods of existing robots such as low-docking stability, this paper proposes an auto-charging method using route guidance. The magnetic stripes for navigation were laid in the segments of the charging path to be a reference path. The magnetic navigation sensors detected the signal of the magnetic stripes to obtain the deviation of the robot motion against the reference path. A 16-bit microcontroller was used to correct the deviation to ensure the robot was able to move in right directions. The algorithm of the controller was double-closed loop for tracking, including the position-closed loop and the robot-dynamic-closed loop. The position-closed loop adopted fuzzy control and the robot-dynamic-closed loop adopted PID control. The robot simulation tests and the auto-recharging experiments of path tracking demonstrated that this method was effective. The proposed auto-charging technology had a good adaptability in both cattle farms and other complex agricultural environments and it can widely deal with to the auto-recharging issues of agricultural robots.