Le 29/06/2020

From implementing control toward cooperation robot-tools

Control of off-road robot acting for agriculture are not limited to the autonomous navigation issues. Agricultural robots indeed aims at performing tasks in interaction with soil and vegetation. Roland Lenain, Research Director at Irstea (now part of Inrae), presents his results.

As a result, the actual objective of robots for agriculture consists in designing actuation capabilities enabling to achieve activily agriculture processes, such as weeds removal or fruit picking. The design of control approaches enabling to synchronize active implement and motion control of the robot is not a trivial problem. In this area, lot of works are indeed not considering the interaction between implment and mobile robot, which are assumed to be independent: a mobile robot moves and stops, when an action has to be done by an implement, or both part are moving independently.

This talk gives some control issues and presents some developments reagrding the synchronization of a mobile platform on-boarded an active implement, through the generic example of mobile manipuator in off-road context. Some example of how to manage the redundancy, while optimizing criteria are proposed to enhanced the potential of agricultural robots. The gerenicity of the proposed approach is then extended to the association of several mobile and manipulator robots allowing to adapt the size of a robotic system to the context and the needs of the mission to be done.

This project was presented during FIRA 2020 as part of the Scientific Seminar organised by Robagri.

Categories : #Labs