| Path tracking control of autonomous agricultural mobile robots |
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| 作者姓名： | ZHU Zhong-xiang CHEN Jun YOSHIDA Toyofumi TORISU Ryo SONG Zheng-he MAO En-rong |
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| 作者单位： | Faculty of Agriculture Iwate University Morioka 0208550 Japan，Faculty of Agriculture Iwate University Morioka 0208550 Japan |
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| 基金项目： | Project （No. 2006AA10A304） supported by the Hi-Tech Research and Development Program （863） of China |
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| 摘 要： | In a tractor automatic navigation system, path planning plays a significant role in improving operation efficiency. This study aims to create a suboptimal reference course for headland turning of a robot tractor and design a path-tracking controller to guide the robot tractor along the reference course. A time-minimum suboptimal control method was used to generate the reference turning course based on the mechanical parameters of the test tractor. A path-tracking controller consisting of both feedforward and feedback component elements was also proposed. The feedforward component was directly determined by the desired steering angle of the current navigation point on the reference course, whereas the feedback component was derived from the designed optimal controller. Computer simulation and field tests were performed to validate the path-tracking performance. Field test results indicated that the robot tractor followed the reference courses precisely on flat meadow, with average and standard lateral devia- tions being 0.031 m and 0.086 m, respectively. However, the tracking error increased while operating on sloping meadow due to the employed vehicle kinematic model.
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| 关 键 词： | 轨迹加速度 控制器 最优控制 机器人操作 |
| 收稿时间： | 2006-08-17 |
| 修稿时间： | 2006-12-27 |
Path tracking control of autonomous agricultural mobile robots |
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| ZHU Zhong-xiang CHEN Jun YOSHIDA Toyofumi TORISU Ryo SONG Zheng-he MAO En-rong.Path tracking control of autonomous agricultural mobile robots[J].Journal of Zhejiang University Science,2007,8(10):1596-1603. |
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| Authors: | Zhu Zhong-xiang Chen Jun Yoshida Toyofumi Torisu Ryo Song Zheng-he Mao En-rong |
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| Institution: | (1) College of Engineering, China Agricultural University, Beijing, 100083, China;(2) College of Mechanical and Electronic Engineering, Northwest A&F University, Yangling, 712100, China;(3) Faculty of Agriculture, Iwate University, Morioka 0208550, Japan |
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| Abstract: | In a tractor automatic navigation system, path planning plays a significant role in improving operation efficiency. This study aims to create a suboptimal reference course for headland turning of a robot tractor and design a path-tracking controller to guide the robot tractor along the reference course. A time-minimum suboptimal control method was used to generate the reference turning course based on the mechanical parameters of the test tractor. A path-tracking controller consisting of both feedforward and feedback component elements was also proposed. The feedforward component was directly determined by the desired steering angle of the current navigation point on the reference course, whereas the feedback component was derived from the designed optimal controller. Computer simulation and field tests were performed to validate the path-tracking performance. Field test results indicated that the robot tractor followed the reference courses precisely on flat meadow, with average and standard lateral devia- tions being 0.031 m and 0.086 m, respectively. However, the tracking error increased while operating on sloping meadow due to the employed vehicle kinematic model. |
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| Keywords: | Headland turning Path creation Path-tracking controller Optimal control Robot tractor |
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