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题名: Research on straight-line path tracking control methods in an agricultural vehicle navigation system
作者: Li TC(李逃昌) ; Hu JT(胡静涛) ; Gao L(高雷) ; Hu HC(胡河春) ; Bai XP(白晓平) ; Liu XG(刘晓光)
作者部门: 信息服务与智能控制技术研究室
会议名称: 11th International Conference on Precision Agriculture
会议日期: July 15-18, 2012
会议地点: Indianapolis, USA
会议录: 11th International Conference on Precision Agriculture (ICPA)
出版日期: 2012
页码: 71
摘要: In the precision agriculture (PA), an agricultural vehicle navigation system is essential and precision of the vehicle path tracking is of great importance in such a system. As straight line operation is the main way of agricultural vehicles on large fields, this paper focuses on the discussion of straight-line path tracking control methods and proposes an agricultural vehicle path tracking algorithm based on the optimal control theory. First, the paper deduces a relative kinematics model of agricultural vehicles based on lateral deviation and heading errors between vehicles and paths. And then a linear quadric (LQ) optimal controller is introduced to improve the control precision and other performance index, such as stability and fast response. The stability of the controller at different speeds is also discussed and the stability condition according to Lyapunov stability theory is proved. Finally, the feasibility of the control algorithm is verified by a series of experiments with a combine operating on a road. The results show that the algorithm proposed in the paper yields satisfactory effects on the straight-line path tracking of agricultural vehicles. At slow speeds, the range of lateral position deviation of the straight-line path tracking is approximately from -0.08m to 0.12m and the mean value of the lateral position deviation is 0.05m.
语种: 英语
产权排序: 1
内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/10161
Appears in Collections:信息服务与智能控制技术研究室_会议论文

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Recommended Citation:
李逃昌; 胡静涛; 高雷; 胡河春; 白晓平; 刘晓光.Research on straight-line path tracking control methods in an agricultural vehicle navigation system.见:.11th International Conference on Precision Agriculture (ICPA) ,,2012,71
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