Double spiraliform path planning and tracking for agricultural mobile robotics: A modeling and simulation study

Computers and Electronics in Agriculture. 2025. Vol. 237. No. C. Article 110715.

Sánchez J. ., López-González E., Magid E., Martinez-Garcia E.

This research presents a comprehensive study on the design and implementation of a robust trajectory tracking
system for autonomous agricultural robots. It introduces a unified kinematic model that integrates different
rolling structures, facilitating performance across various robotic designs. The novel path planning method
utilizes double spiraliform tracks to enhance movement efficiency in complex agricultural settings and generate
flexible fields in terms of scale, orientation, and location, providing reference trajectory models. A sliding
mode controller is developed to manage nonlinear dynamics and discontinuous input references, ensuring
stability and precision during operation. The sliding approach was compared against four controllers: a linear
feedback controller, a state-space feedback controller, a proportional controller, and a proportional–integral
controller. The evaluation of accuracy and precision with respect to the input reference model showed similar
performances across the controllers. However, the sliding approach proved superior when inputting nonlinear
reference and discontinuous external perturbations, producing chattering metric errors averaging 0.94 m and
mean = 0.012 m, for components, respectively A Lyapunov analysis confirmed the sliding mode controller
stability during path tracking nonlinear dynamics, handling unpredictable operational conditions. Numerical
simulations validated the controller’s effectiveness, showcasing its robustness against external disturbances and
its ability to maintain stability and precision during operation.

Keywords: планирование пути, Path-Planning, автономный робот, Furrow-tracking, Trajectory-control, Autonomous-vehicles, Agriculture-robotics