Control de velocidad traslacional y orientación de un robot dedicado a agricultura de precisión

Various agricultural tasks can be conducive to fatigue or being triggers of diseases in farmers. For assistance of these tasks, robotics has been used as a possibility to minimize the aforementioned drawbacks. Considering the previous, the Universidad Militar Nueva Granada designed and built a robot called CERES, which performs tasks of weed removal, fumigation, among others. To ensure that CERES can move in crops following a desired trajectory, displacement of robot with a translational speed and specific orientation must be ensured, which is guaranteed using controllers. This article shows the design and implementation of PID controllers, for the tracking of linear speed and orientation, ensuring to meet a settling time when error tends to zero, using SSV (Steady State Value) criteria, and control signals admissible by the robot’s Hardware.