Generating maneuverable trajectories for a reconfigurable underactuated agricultural robot

A high level of accuracy is essential for meaningful productivity measures in agriculture. However, agricultural robots are frequently used for multiple applications simultaneously or reconfigured for changing applications, both of which can reduce reading accuracy; choosing trajectories which optimize measurement accuracy by taking into account the changing dynamics of the vehicle while maximizing maneuverability is essential. The aim of this study is to produce an optimal trajectory between two points for an underactuated agricultural robot which is maneuverable in the sense that it allows readings to be carried out from all angles while respecting the dynamic constraints of the vehicle. The paths and controller are be tested on a simulation of a Husky vehicle which forms the basis for a reconfigurable agricultural robot.