Research on Trajectory Tracking Control of Large Intelligent Mower Based on Neural Network

Abstract

A new large intelligent mowing robot based on four wheeled mobile robot structure is proposed in the paper. Trajectory tracking control is a key factor for high efficiency of mowing robot. Firstly, the kinematics model of the intelligent mowing robot is established by Ackerman model in order to solve the trajectory tracking problem. Subsequently, the trajectory tracking algorithm based on BP neural network is designed, which is used to solve the nonlinear problem of trajectory tracking. Finally, the kinematics model and trajectory tracking algorithm are simulated by MATLAB. The simulation experiment results prove that trajectory tracking algorithm is effective.