Navigation Path Following Platform for a Greenhouse Shuttle Robot Using the State-flow Method

Algorithm 1

Complete state-flow algorithm.

Input: Robot linear velocity: angular velocity: output: motor output reference value: , . Define: The robot maximum linear velocity as , turning radius as radius, mobile robot chassis width as width, maximum output value:

CASE I: (go forward)

. ()

. ()

Else if (Front Left)

radius

radius_L = radius-width/2

radius_R = radius+width/2

CASE II:

If : (stop)

Else if : (Left self-rotation)

Else if : (Left self-rotation)