SYSTEM ANALYSIS OF A GROUND ROBOTIC PLATFORM FOR AGRICULTURAL PURPOSE
Abstract
The aim of this work is to conduct a systemic analysis of mobile robotic platforms that can be used in agriculture for cargo transportation and weed control. This study is relevant due to the increasing population, decreasing arable land, natural population outflow from rural areas, and reduction in agricultural machinery. To achieve the set goal, a "tree" of objectives for the systemic analysis of the constructive implementation of platforms has been formed, which precedes and decomposes the stages of designing and developing agricultural robots. Due to the presence of fuzzy and verbal evaluation indicators by experts of robotic platforms, the authors suggest defining them in the form of fuzzy intervals, which, with the use of additive convolution, allow obtaining a composite indicator that can be presented either in fuzzy form or in the form of pessimistic, optimistic, or neutral assessments. At the same time, the weighting coefficients of additive convolution can also be presented in fuzzy form. For this purpose, operations of multiplication and addition of fuzzy intervals are proposed. To conduct simulation modeling, the structure of software is presented using an object-oriented approach. By overloading classical addition and multiplication operations, it was possible to implement algebraic operations with fuzzy intervals without complicating calculations. The modeling results confirmed the feasibility of the approach and allowed determining the constructive implementation, layout, engines, and actuators for the agricultural platform. The proposed methods can be used before the stages of designing and developing robots for various purposes, and the use of indicators in fuzzy form allows reducing the burden on experts.
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