插秧机导航路径跟踪改进纯追踪算法

摘要

插秧机田间行驶路径包括直线作业段和地头曲线转弯段,因此需要对传统的纯追踪算法进行改进,使其满足曲线路径跟踪.以约翰迪尔Starfire3000型接收机、GS2630型显示器和ATU200型电动方向盘为主要硬件设备,针对给定的曲线路径,提出了一种路径跟踪控制算法,并通过模型仿真和田间试验相结合的方法,对该导航控制算法进行了验证分析.该导航控制算法首先根据车辆速度和路径弯曲程度来动态调整前视距离,其次在利用预见控制求得车辆目标点的基础上,利用改进的纯追踪算法设计控制器,最后按照插秧机作业时的路径进行仿真和试验.试验结果表明,车辆以1 m/s的速度行驶且在转弯半径为0.9m时,最大跟踪误差可控制在0.159 m以内.%There are a lot of algorithms on the pure pursuit model,but most of them focus on the linear path tracking.Due to the path of the transplanter including straight line and curve turning segment,it is necessary to improve the traditional pure tracking algorithm.Taking John Deere Starfire3000 receiver,GS2630 display and ATU200 as the main hardware equipments,according to the curve of a given path,a path tracking control algorithm was proposed,combining the model simulation and field test,the navigation control algorithm was verified.The specific steps of the navigation control algorithm were as follows:firstly,according to the vehicle speed and the bending degree of the road,the lookahead distance was adjusted dynamically.Secondly,on the basis of using the preview control to get the vehicle target,controller was designed based on improved pure tracking algorithm.At last,the simulation and experiment were carried out according to the path of transplanter.The results showed that the maximum error could be controlled within 0.159 m when the vehicle was traveling at the speed of 1 m/s and the turning radius was 0.9 m.