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

Table 1

Relationship between actual mobile robot’s velocity v and linear and angular velocity signals (v, w) value.

Signal value in the Simulink	Actual mobile robot velocity	Radius of the circle
v = 0.5,w = 0	v = 0.334 m/s	N/A
v = 1,w = 0	v = 0.668 m/s	N/A
v = 1.5,w = 0	Not satisfied (0 < V < 1)	N/A
v = 0.5,w = 2.2	v = 0.334 m/s	R
v = 1,w = 4.4	v = 0.668 m/s	R
v = 1,w = 2.2	v = 0.668 m/s	2R