Simulink Modelling and Simulation of Mobile Agricultural Robots for Farm Monitoring

Abstract

Mobile robots are immensely important robots used for various applications; agriculture, military, firefighting and space exploration. The differential drive configurations are widely used due to their simplicity, easiness of control and flexibility. This paper describes the kinematics and dynamics Simulink model of a differential drive robot and control algorithm for the robot. The robot dynamics were formulated using Lagrangian mechanics and the system characteristics were studied by Proportional integral derivative (PID). Also, a Simulink model was developed for modelling the mobile robot which can be used for further research on mobile robots. The efficacy of the designed controllers has been studied and seen to control the robot with an error of 0.15 m and deviation time of 10 s.