中国科学院沈阳自动化研究所机构知识库
Advanced  
SIA OpenIR  > 信息服务与智能控制技术研究室  > 期刊论文
题名: Cascaded navigation control for agricultural vehicles tracking straight paths
作者: Hu JT(胡静涛) ; Li TC(李逃昌)
作者部门: 信息服务与智能控制技术研究室
关键词: Agriculture ; Automobile steering equipment ; Controllers ; Mathematical models ; Navigation ; Optimization ; Steering
刊名: International Journal of Agricultural and Biological Engineering
ISSN号: 1934-6344
出版日期: 2014
卷号: 7, 期号:1, 页码:36-44
收录类别: SCI ; EI
产权排序: 1
摘要: In precision agriculture (PA), an agricultural vehicle navigation system is essential and the navigation control accuracy is important in this system. As straight path tracking is the major operating mode of agricultural vehicles on large fields, a cascaded navigation control method for straight path tracking is proposed in this study. Firstly, a cascaded navigation control structure for the agricultural vehicle was discussed. Based on this structure, the navigation control task was decomposed into two cascaded control tasks, namely, the path tracking control task and the steering control task. Secondly, a relative kinematics model of agricultural vehicles was deduced, and an optimal Proportional-Derivative (PD) method based on the deduced model was developed in the path tracking control task. Then, an improved PD method based on a transition process was proposed in the steering control task to enhance the performance of the steering control subsystem. Finally, the effectiveness and the superiority of the proposed method were verified by a series of experiments. Results of the experimental data analysis show that mean value of the lateral position deviation is 0.02 m and standard deviation of the lateral position deviation is 0.04 m, which proves that the proposed method has achieved satisfactory effects on the straight path tracking of agricultural vehicles.
WOS记录号: WOS:000338267400005
WOS标题词: Science & Technology ; Life Sciences & Biomedicine
类目[WOS]: Agricultural Engineering
关键词[WOS]: ADAPTIVE STEERING CONTROL ; FARM TRACTOR
研究领域[WOS]: Agriculture
Citation statistics:
内容类型: 期刊论文
URI标识: http://ir.sia.cn/handle/173321/14671
Appears in Collections:信息服务与智能控制技术研究室_期刊论文

Files in This Item: Download All
File Name/ File Size Content Type Version Access License
Cascaded navigation control for agricultural vehicles tracking straight paths.pdf(1312KB)----开放获取View Download
Service
Recommend this item
Sava as my favorate item
Show this item's statistics
Export Endnote File
Google Scholar
Similar articles in Google Scholar
[Hu JT(胡静涛)]'s Articles
[Li TC(李逃昌)]'s Articles
CSDL cross search
Similar articles in CSDL Cross Search
[Hu JT(胡静涛)]‘s Articles
[Li TC(李逃昌)]‘s Articles
Related Copyright Policies
Null
Social Bookmarking
Add to CiteULike Add to Connotea Add to Del.icio.us Add to Digg Add to Reddit
文件名: Cascaded navigation control for agricultural vehicles tracking straight paths.pdf
格式: Adobe PDF
所有评论 (0)
暂无评论
 
评注功能仅针对注册用户开放,请您登录
您对该条目有什么异议,请填写以下表单,管理员会尽快联系您。
内 容:
Email:  *
单位:
验证码:   刷新
您在IR的使用过程中有什么好的想法或者建议可以反馈给我们。
标 题:
 *
内 容:
Email:  *
验证码:   刷新

Items in IR are protected by copyright, with all rights reserved, unless otherwise indicated.

 

 

Valid XHTML 1.0!
Copyright © 2007-2016  中国科学院沈阳自动化研究所 - Feedback
Powered by CSpace