白国星,刘立,孟宇,罗维东,顾青,梁晨.基于非线性模型预测控制的农用拖挂车避障控制器研究[J].农业机械学报,2019,50(4):356-362.
BAI Guoxing,LIU Li,MENG Yu,LUO Weidong,GU Qing,LIANG Chen.Study of Obstacle Avoidance Controller of Agricultural Tractor-trailers Based on Predictive Control of Nonlinear Model[J].Transactions of the Chinese Society for Agricultural Machinery,2019,50(4):356-362.
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基于非线性模型预测控制的农用拖挂车避障控制器研究   [下载全文]
Study of Obstacle Avoidance Controller of Agricultural Tractor-trailers Based on Predictive Control of Nonlinear Model   [Download Pdf][in English]
投稿时间:2018-09-26  
DOI:10.6041/j.issn.1000-1298.2019.04.041
中文关键词:  农用拖挂车  运动学  模型预测控制  避障控制
基金项目:国家重点研发计划项目(2018YFC0604403、2016YFC0802905)、国家高技术研究发展计划(863计划)项目(2011AA060408)和中央高校基本科研业务费专项资金项目(FRF-TP-17-010A2)
作者单位
白国星 北京科技大学 
刘立 北京科技大学 
孟宇 北京科技大学 
罗维东 北京科技大学 
顾青 北京科技大学 
梁晨 北京科技大学 
中文摘要:为实现农用拖挂车的避障控制,设计了一种基于非线性模型预测控制的避障控制器。考虑到农用拖挂车的避障控制需要同时顾及拖车与挂车的位姿状态,基于刚体运动学和非完整约束条件推导了农用拖挂车的运动学模型,并基于该运动学模型建立了农用拖挂车的位姿状态预测模型。在此基础上,基于改进的禁区惩罚函数设计了优化目标函数,从而完成了基于非线性模型预测控制的农用拖挂车避障控制器的设计。仿真结果表明,农用拖挂车避障控制器能够在较复杂工况下同时控制拖车与挂车实现避障,农用拖挂车各车桥端点轨迹与障碍物中心之间的最小距离减去障碍物半径与安全裕度之和的结果均大于或等于0m。
BAI Guoxing  LIU Li  MENG Yu  LUO Weidong  GU Qing  LIANG Chen
University of Science and Technology Beijing,University of Science and Technology Beijing,University of Science and Technology Beijing,University of Science and Technology Beijing,University of Science and Technology Beijing and University of Science and Technology Beijing
Key Words:agriculture tractor-trailer  kinematics  model predictive control  obstacle avoidance
Abstract:For the obstacle avoidance control of agricultural tractor-trailers, a controller based on nonlinear model predictive control was proposed. Since the obstacle avoidance control of the agricultural tractor-trailer should take the position state and the attitude state of the tractor and trailer into account, the kinematics model of the agricultural tractor-trailer was derived based on rigid body kinematics and non-holonomic constraints. And based on this kinematics model, the position state and the attitude state prediction model of the agricultural tractor-trailer was established. Thereafter, the optimization function was designed based on the improved forbidden zone penalty function, and the proposed obstacle avoidance controller design was completed. In the simulation results, by comparing with the obstacle avoidance controller that did not consider the position state and the attitude state of the trailer, it can be known that the proposed obstacle avoidance controller of agricultural tractor trailers can control the tractor and the trailer to avoid the obstacle simultaneously. And under the control of the proposed obstacle avoidance controller of agricultural tractor-trailers, the minimum distance between the trajectory of the end point of each axle and the center of the obstacle minus the sum of the obstacle radius and the safety margin was not less than 0m.

Transactions of the Chinese Society for Agriculture Machinery (CSAM), in charged of China Association for Science and Technology (CAST), sponsored by CSAM and Chinese Academy of Agricultural Mechanization Science(CAAMS), started publication in 1957. It is the earliest interdisciplinary journal in Chinese which combines agricultural and engineering. It always closely grasps the development direction of agriculture engineering disciplines and the published papers represent the highest academic level of agriculture engineering in China. Currently, nearly 8,000 papers have been already published. There are around 3,000 papers contributed to the journal each year, but only around 600 of them will be accepted. Transactions of CSAM focuses on a wide range of agricultural machinery, irrigation, electronics, robotics, agro-products engineering, biological energy, agricultural structures and environment and more. Subjects in Transactions of the CSAM have been embodied by many internationally well-known index systems, such as: EI Compendex, CA, CSA, etc.

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