The improvement of motion control precision in agricultural irrigation robots is a key technology for achieving precision agriculture. By constructing a multi-sensor fusion positioning control system and an improved PID motion control algorithm, combined with path planning optimization and dynamic error compensation mechanisms, the robot's operational performance has been significantly enhanced. The Extended Kalman Filter algorithm realizes the fusion of multi-source information from GPS and IMU, while the adaptive PID controller improves system response characteristics. Experimental results showed that positioning accuracy improved from ±15.2 cm to ±3.1 cm, trajectory tracking accuracy reached ±2.5 cm, irrigation uniformity coefficient reached 92.5%, and system stability index reached 0.91.

agricultural irrigation robot  /  motion control  /  precision improvement  /  sensor fusion