白晓平,王卓,胡静涛,高雷,熊锋.基于领航-跟随结构的联合收获机群协同导航控制方法[J].农业机械学报,2017,48(7):14-21.
BAI Xiaoping,WANG Zhuo,HU Jingtao,GAO Lei,XIONG Feng.Harvester Group Corporative Navigation Method Based on Leader-Follower Structure[J].Transactions of the Chinese Society for Agricultural Machinery,2017,48(7):14-21.
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基于领航-跟随结构的联合收获机群协同导航控制方法   [下载全文]
Harvester Group Corporative Navigation Method Based on Leader-Follower Structure   [Download Pdf][in English]
投稿时间:2016-11-17  
DOI:10.6041/j.issn.1000-1298.2017.07.002
中文关键词:  收获机群  跟随-领航结构  协同控制  路径跟踪  队形保持
基金项目:国家重点研发计划项目(2016YFD0701903)和辽宁省科技攻关计划项目(2015104005)
作者单位
白晓平 中国科学院沈阳自动化研究所 
王卓 中国科学院沈阳自动化研究所 
胡静涛 中国科学院沈阳自动化研究所 
高雷 中国科学院沈阳自动化研究所 
熊锋 中国科学院沈阳自动化研究所 
中文摘要:面向联合收获机群协同导航作业需求,提出一种基于领航-跟随结构的收获机群协同导航控制方法。该方法在建立收获机群运动学模型的基础上,结合反馈线性化及滑模控制理论设计了渐进稳定的路径跟踪控制律和队形保持控制律。为验证所提模型及方法的有效性,以4台收获机组成的收获机群为试验平台,进行了机群协同导航控制试验。当速度为1.0m/s时,领航者的平均跟踪误差为5.81cm,跟随者的平均跟踪误差为5.93cm,与单台收获机的导航控制精度相近,验证了所提方法的可行性和有效性。
BAI Xiaoping  WANG Zhuo  HU Jingtao  GAO Lei  XIONG Feng
Shenyang Institute of Automation, Chinese Academy of Sciences,Shenyang Institute of Automation, Chinese Academy of Sciences,Shenyang Institute of Automation, Chinese Academy of Sciences,Shenyang Institute of Automation, Chinese Academy of Sciences and Shenyang Institute of Automation, Chinese Academy of Sciences
Key Words:harvester group  leader-follower structure  collaborative control  path following  formation keeping
Abstract:With the improvement of the farm mechanization level, more ‘corporate’ style farming emerged. For example, more than one harvester collaborated with each other to complete the task of harvesting operations. The new ‘corporate’ style farming created several new challenges for the agricultural machinery navigation, and the group navigation was the trend of the development of agricultural machinery navigation technology. Group collaborative navigation control is the critical technical problem to be resolved. In order to solve this problem, a collaborative navigation control method based on the leader-follower structure was proposed. Firstly, the harvester group based on master-slave structure was introduced, and a kinematics model of harvester group was established on the basis of kinematics analysis. Secondly, a formation keeping control law and a path following control law were designed on the basis of feedback linearization and sliding mode control theory. Finally, in order to verify the effectiveness of the proposed model and method, the formation experiments were carried out. When the leader and follower ran at speed of 1.0m/s, the average error of the leader and follower were respectively 5.81cm and 5.93cm. The experimental results showed that the average navigation errors of the harvester group were similar to the average navigation error of a single farm machinery, and the proposed method could meet the harvester navigation demand.

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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