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Cascaded navigation control for agricultural vehicles tracking straight paths
Hu JT(胡静涛); Li TC(李逃昌)
Department信息服务与智能控制技术研究室
Source PublicationInternational Journal of Agricultural and Biological Engineering
ISSN1934-6344
2014
Volume7Issue:1Pages:36-44
Indexed BySCI ; EI
EI Accession number20141017421315
WOS IDWOS:000338267400005
Contribution Rank1
KeywordAgriculture Automobile Steering Equipment Controllers Mathematical Models Navigation Optimization Steering
AbstractIn 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.
Language英语
WOS HeadingsScience & Technology ; Life Sciences & Biomedicine
WOS SubjectAgricultural Engineering
WOS KeywordADAPTIVE STEERING CONTROL ; FARM TRACTOR
WOS Research AreaAgriculture
Citation statistics
Cited Times:8[WOS]   [WOS Record]     [Related Records in WOS]
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/14671
Collection信息服务与智能控制技术研究室
Corresponding AuthorHu JT(胡静涛)
Affiliation1.Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China
2.University of Chinese Academy of Sciences, Beijing 100049, China
Recommended Citation
GB/T 7714
Hu JT,Li TC. Cascaded navigation control for agricultural vehicles tracking straight paths[J]. International Journal of Agricultural and Biological Engineering,2014,7(1):36-44.
APA Hu JT,&Li TC.(2014).Cascaded navigation control for agricultural vehicles tracking straight paths.International Journal of Agricultural and Biological Engineering,7(1),36-44.
MLA Hu JT,et al."Cascaded navigation control for agricultural vehicles tracking straight paths".International Journal of Agricultural and Biological Engineering 7.1(2014):36-44.
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