A Row Crop Following Behavior based on Primitive Fuzzy Behaviors for Navigation System of Agricultural Robots

The work presents a methodology for generating and implementing a complex row crop following robotic for a mobile agricultural robot. Fuzzy rules are used to compose and coordinate the simple behaviors using the specific agricultural contexts. Also, is proposed a method for coordinating the simple behaviors based on multiples arbiters that operate in different stages on the robotic architecture to perform the path tracking. A commercial robotic platform is adapted to simulate and support the behavior based on architecture to allow the experiment performed in order to evaluate the implemented behaviors and to evaluate the operational ability of the robotic platform on a simulated agricultural environment. The modularity of the architecture using decentralized arbiters simplifies the implementation of the robotic architecture. The results show the feasibility method to implement the behavior coordination and to compose complex behaviors based on fuzzy and non-fuzzy simple context dependent behaviors.