PATH TRACKING FOR AGRICULTURAL VEHICLE BASEDON ON MACHINE VISION

摘要

An autonomous navigation system based on machine vision for agricultural was presented. A novel line detection algorithm called Passed Known Point Randomized Hough Transform was proposed for navigation directrix detection, it decreased the cost of memory and time considerably; a two-dimension fuzzy controller with the inputs of lateral error and heading error was built to determine the expected angle of turning wheel; and a turning controller based on PID was constructed to control the turning of front wheel; the simplified kinematics model of two-wheel vehicle was adopted for simulation. The results of simulation and experiments indicated that the navigation system could track the desired beeline path effectively, the maximum lateral error was less tan 5 cm and 8 cm at the speed of 0.3m/s and 0.6m/s respectively, and the average lateral error was less than 2 cm and 4cm respectively.