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Cascaded navigation control for agricultural vehicles tracking straight paths
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
发表期刊International Journal of Agricultural and Biological Engineering
ISSN1934-6344
2014
卷号7期号:1页码:36-44
收录类别SCI ; EI
EI收录号20141017421315
WOS记录号WOS:000338267400005
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.
语种英语
WOS标题词Science & Technology ; Life Sciences & Biomedicine
WOS类目Agricultural Engineering
关键词[WOS]ADAPTIVE STEERING CONTROL ; FARM TRACTOR
WOS研究方向Agriculture
引用统计
文献类型期刊论文
条目标识符http://ir.sia.cn/handle/173321/14671
专题信息服务与智能控制技术研究室
通讯作者Hu JT(胡静涛)
作者单位1.Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China
2.University of Chinese Academy of Sciences, Beijing 100049, China
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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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