[目的]提高遥控操作农业车辆的智能性与安全性.[方法]提出一种新的无人农业车辆遇障后的速度控制方法.建立动态环境中无人车辆的碰撞预测模型,确定实时碰撞位置,依据专家经验与农业作业环境制定的云推理规则,建立速度控制策略,实现速度控制.[结果]算法预测判断平均耗时0.170 1 s,无人车辆速度控制过程没有受到无威胁障碍物影响,且符合速度云推理规则.[结论]该算法能够实现实时碰撞预测,具备抗干扰能力,满足实时性要求.%[Objective]To improve the intelligence and safety of remote-operated agricultural vehicles.[Method]A new method for unmanned agricultural vehicles during obstacle crossing was proposed.The collision prediction model of unmanned vehicles in dynamic environment was established,and the real-time collision location was determined.According to the cloud inference principle based on both experience of experts and agricultural operation environment,velocity control strategy was established to realize velocity control.[Result]The algorithm took 0.170 1 s on average to make a prediction,the velocity control results of unmanned vehicles excluded the impact of non-threatening obstacles and accorded with the velocity cloud inference principle.[Conclusion]The established algorithm is able to realize real-time collision prediction,possesses anti-disturbance ability,and satisfies real-time requirement.
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