Path Tracking Control of Field InformationCollecting Robot Based on Improved Convolutional Neural Network Algorithm Due to the narrow row spacing of corn, the lack of light in the field caused by the blocking of branches, leaves and weeds in the middle and late stages of corn growth, it is generally difficult for machinery to move between rows and also impossible to observe the corn growth in real time. To solve the problem, a robot for corn interlines information collection thus is designed. First, the mathematical model of the robot is established using the designed control system. Second, an improved convolutional neural network model is proposed for training and learning, and the driving path is fitted by detecting and identifying corn rhizomes. Next, a multibody dynamics simulation software, RecurDyntrack, is used to establish a dynamic model of the robot movement in soft soil conditions, and a control system is developed in MATLABSIMULINK for joint simulation experiments. Simulation results show that the method for controlling a slidingmode variable structure can achieve better control results. Finally, experiments on the ground and in a simulated field environment show that the robot for field information collection based on the method developed runs stably and shows little deviation. The robot can be well applied for field plant protection, the control of corn diseases and insect pests, and the realization of humanxe2x80x93machine separation.

Design, modelling and control of a novel agricultural robot with interlock drive system A current problem in the design of small and lightweight autonomous agricultural robots is how to create sufficient traction on soil to pull an agricultural implement or load. One promising solution is offered by the interlock drive system, which penetrates spikes into the soil to create traction. The combination of soil penetrating spikes and a pushpull design offers new possibilities for vehicle control. By controlling the interlocking of the spikes and pushing and pulling them against the main frame, the vehicle can perform tight maneuvers. To validate this idea, we designed a robot, capable of creating high traction and performing headland turns. The navigation of the new robot system is performed by actively pushing the spikes, mounted on a slide into the soil, while the main frame is pushed back and pulled forward. The vehicle of 3meter length was able to turn on the spot and could follow a straight line, just using the spikes and the pushpull mechanism for locomotion.