Modelling and control of the GreenWeeder for crop row tracking

GreenWeeder is a non-herbicidal autonomous weeding robot that is being developed to autonomously track crop rows to target inter-row spacing for weeding through electrocution. This work presents the experimental system identification to identify the steering system dynamics and the development of a controller to track an especially laid strip mimicking a crop row. The results of the designed controller are presented and analyzed in order to improve the performance as well as the accuracy of the robot lateral deviation from the crop rows.