ABSTRACT
This paper presents a system for the automatic driving of plant protection robots that also achieves accuracy and reliability. A method based on differential GPS obtains high-precision information on position and direction, and the A/B points are collected to obtain the AB line of the path planning. The preview point is calculated by using the straight-line tracking model, and the desired deflection angle is obtained. The electromagnetic proportional hydraulic valve is controlled by PWM modulation, through the opening of the valve to control the expansion and contraction of the hydraulic cylinder, and the wheel is rotated to achieve the purpose of adjusting the turning. The system realizes a control function that the plant protection robot can travel straight. The plant protection robot travels at a speed of 1.2 m/s, the maximum deviation is 5.3 cm, and the standard deviation is 1.4 cm. The test results show that the system can be used for the automatic driving of plant protection robots, and it also has reliability.
