Automated Guided Robot with Backstepping Sliding Mode Control and Its Path Planning in Strip Farming

Abstract

In this paper, a combination of path planning and backstepping sliding mode control approach is applied to the four-wheeled agricultural robot. First, the anchor points in a strip farm is located by the real-time kinematic positioning in global navigation satellite system (GNSS-RTK). Second, a point-to-point trajectory is formed on a strip farm map using cubic spline interpolation by selecting initial, control, and target points between the anchor points. Finally, backstepping and sliding model technique is used to solve the path following problem. The stability of the proposed guidance system is proved by Lyapunov theory.