Tree pruning robot tilting control using fuzzy logic

Pengfei Gui, Liqiong Tang, Subhas Mukhopadhyay

    Research output: Chapter in Book/Report/Conference proceedingConference proceeding contributionResearchpeer-review

    Abstract

    This paper presents an intelligent control strategy for a wheel type tree pruning robot tilting control during climbing procedure. There are two types of tilting scenarios needed to be considered, initial setting tilt and dynamic tilt. To compensate the initial installation tilt, a tiling fuzzy controller is specifically designed to adjust the robot platform to the horizontal position before climbing up. For robot dynamic tilt, which is mainly caused by wheel slippage during the climbing, a slippage fuzzy control system is developed through the control of stepper and DC motor via the IMU. The fuzzy controllers were implemented in MATLAB Simulink and simulated in SimMechanics. The simulations verify the feasibility of the robot tilting control algorithm and the effectiveness of the fuzzy controllers.

    LanguageEnglish
    Title of host publication2017 Eleventh International Conference on Sensing Technology (ICST)
    Subtitle of host publicationproceedings
    Place of PublicationPiscataway, NJ
    PublisherInstitute of Electrical and Electronics Engineers (IEEE)
    Pages1-5
    Number of pages5
    ISBN (Electronic)9781509065264, 9781509065257
    ISBN (Print)9781509065271
    DOIs
    Publication statusPublished - 2017
    Event11th International Conference on Sensing Technology, ICST 2017 - Sydney, Australia
    Duration: 4 Dec 20176 Dec 2017

    Conference

    Conference11th International Conference on Sensing Technology, ICST 2017
    CountryAustralia
    CitySydney
    Period4/12/176/12/17

    Fingerprint

    Fuzzy logic
    Robots
    Controllers
    Wheels
    DC motors
    Intelligent control
    Fuzzy control
    MATLAB
    Control systems

    Keywords

    • tree pruning robot
    • tilting control
    • fuzzy controller
    • IMU
    • wheel slippage control

    Cite this

    Gui, P., Tang, L., & Mukhopadhyay, S. (2017). Tree pruning robot tilting control using fuzzy logic. In 2017 Eleventh International Conference on Sensing Technology (ICST): proceedings (pp. 1-5). Piscataway, NJ: Institute of Electrical and Electronics Engineers (IEEE). https://doi.org/10.1109/ICSensT.2017.8304509
    Gui, Pengfei ; Tang, Liqiong ; Mukhopadhyay, Subhas. / Tree pruning robot tilting control using fuzzy logic. 2017 Eleventh International Conference on Sensing Technology (ICST): proceedings. Piscataway, NJ : Institute of Electrical and Electronics Engineers (IEEE), 2017. pp. 1-5
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    title = "Tree pruning robot tilting control using fuzzy logic",
    abstract = "This paper presents an intelligent control strategy for a wheel type tree pruning robot tilting control during climbing procedure. There are two types of tilting scenarios needed to be considered, initial setting tilt and dynamic tilt. To compensate the initial installation tilt, a tiling fuzzy controller is specifically designed to adjust the robot platform to the horizontal position before climbing up. For robot dynamic tilt, which is mainly caused by wheel slippage during the climbing, a slippage fuzzy control system is developed through the control of stepper and DC motor via the IMU. The fuzzy controllers were implemented in MATLAB Simulink and simulated in SimMechanics. The simulations verify the feasibility of the robot tilting control algorithm and the effectiveness of the fuzzy controllers.",
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    Gui, P, Tang, L & Mukhopadhyay, S 2017, Tree pruning robot tilting control using fuzzy logic. in 2017 Eleventh International Conference on Sensing Technology (ICST): proceedings. Institute of Electrical and Electronics Engineers (IEEE), Piscataway, NJ, pp. 1-5, 11th International Conference on Sensing Technology, ICST 2017, Sydney, Australia, 4/12/17. https://doi.org/10.1109/ICSensT.2017.8304509

    Tree pruning robot tilting control using fuzzy logic. / Gui, Pengfei; Tang, Liqiong; Mukhopadhyay, Subhas.

    2017 Eleventh International Conference on Sensing Technology (ICST): proceedings. Piscataway, NJ : Institute of Electrical and Electronics Engineers (IEEE), 2017. p. 1-5.

    Research output: Chapter in Book/Report/Conference proceedingConference proceeding contributionResearchpeer-review

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    AB - This paper presents an intelligent control strategy for a wheel type tree pruning robot tilting control during climbing procedure. There are two types of tilting scenarios needed to be considered, initial setting tilt and dynamic tilt. To compensate the initial installation tilt, a tiling fuzzy controller is specifically designed to adjust the robot platform to the horizontal position before climbing up. For robot dynamic tilt, which is mainly caused by wheel slippage during the climbing, a slippage fuzzy control system is developed through the control of stepper and DC motor via the IMU. The fuzzy controllers were implemented in MATLAB Simulink and simulated in SimMechanics. The simulations verify the feasibility of the robot tilting control algorithm and the effectiveness of the fuzzy controllers.

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    Gui P, Tang L, Mukhopadhyay S. Tree pruning robot tilting control using fuzzy logic. In 2017 Eleventh International Conference on Sensing Technology (ICST): proceedings. Piscataway, NJ: Institute of Electrical and Electronics Engineers (IEEE). 2017. p. 1-5 https://doi.org/10.1109/ICSensT.2017.8304509