李革,王宇,郭刘粉,童俊华,何勇.插秧机导航路径跟踪改进纯追踪算法[J].农业机械学报,2018,49(5):21-26.
LI Ge,WANG Yu,GUO Liufen,TONG Junhua,HE Yong.Improved Pure Pursuit Algorithm for Rice Transplanter Path Tracking[J].Transactions of the Chinese Society for Agricultural Machinery,2018,49(5):21-26.
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插秧机导航路径跟踪改进纯追踪算法   [下载全文]
Improved Pure Pursuit Algorithm for Rice Transplanter Path Tracking   [Download Pdf][in English]
投稿时间:2017-10-31  
DOI:10.6041/j.issn.1000-1298.2018.05.002
中文关键词:  插秧机  路径跟踪  纯追踪算法  前视距离
基金项目:国家重点研发计划项目(2017YFD0700401)、国家自然科学基金项目(51375459)、国家高技术研究发展计划(863计划)项目(2012AA10A504)、现代农业产业技术体系项目(111329A4C12352)和杭州市科技发展计划项目(20170432B27)
作者单位
李革 浙江理工大学 
王宇 浙江理工大学 
郭刘粉 浙江理工大学 
童俊华 浙江理工大学 
何勇 浙江大学 
中文摘要: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1m/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0.159m以内
LI Ge  WANG Yu  GUO Liufen  TONG Junhua  HE Yong
Zhejiang Sci-Tech University,Zhejiang Sci-Tech University,Zhejiang Sci-Tech University,Zhejiang Sci-Tech University and Zhejiang University
Key Words:rice transplanter  path tracking  pure pursuit algorithm  lookahead distance
Abstract: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 0.159m when the vehicle was traveling at the speed of 1m/s and the turning radius was 0.9m.

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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