计算机工程与应用 ›› 2010, Vol. 46 ›› Issue (21): 216-219.DOI: 10.3778/j.issn.1002-8331.2010.21.062

• 工程与应用 • 上一篇    下一篇

改进纯追踪模型的农业机械地头转向控制方法

黄沛琛,罗锡文,张智刚   

  1. 华南农业大学 工程学院 南方农业机械与装备关键技术省部共建教育部重点实验室,广州 510640
  • 收稿日期:2009-01-15 修回日期:2009-03-30 出版日期:2010-07-21 发布日期:2010-07-21
  • 通讯作者: 黄沛琛

Control method of headland turning based on improved pure pursuit model for agricultural machine

HUANG Pei-chen,LUO Xi-wen,ZHANG Zhi-gang   

  1. Key Lab of Key Technology on Agricultural Machine and Equipment of South China Agricultural University,Ministry of Edu-
    cation,Guangzhou 510640,China
  • Received:2009-01-15 Revised:2009-03-30 Online:2010-07-21 Published:2010-07-21
  • Contact: HUANG Pei-chen

摘要: 根据农业机械田间地头转向的特点,提出了一种基于改进纯追踪模型的农业机械地头转向控制方法。以简化二轮车作为运动学模型,使用直线组合进行地头转向路径规划,采用BP神经网络实现动态调节前视距离改进纯追踪算法,用该算法进行路径跟踪,实现地头转向动作。MATLAB/Simulink仿真结果表明,该基于改进纯追踪模型的农业机械地头转向控制方法路径规划简单、占用空间小、跟踪精度较高。

Abstract: According to the features of headland turning,agricultural machine headland turning control algorithm is presented.Applying simplified bicycle kinematics model,the path planning is produced by assembling three straight lines;using the dynamical look-ahead distance which is implemented by the BP neural network,an improved pure pursuit algorithm is applied in the headland turning.MATLAB/Simulink simulation results show that headland path planning algorithm and headland turning algorithm presented are simple,occupy small headland space and have a high tracking accuracy.The control method is feasible and practical.

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