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Alternative TitleAgricultural Machine Path Tracking Method Irrelevant to Travel Speeds
李逃昌; 胡静涛; 高雷; 刘晓光; 白晓平
Source Publication农业机械学报
Indexed ByEI ; CSCD
EI Accession number20141117454077
Contribution Rank1
Funding Organization“十二五”国家科技支撑计划资助项目(2011BAD20B06)和中国科学院知识创新工程重要方向资助项目(KGCX2-YW-138)
Keyword农机 路径跟踪 行驶速度 相对运动学模型 反馈线性化 最优控制
Other AbstractAn agricultural machine path tracking method irrelevant to travel speeds, aiming at the path tracking control problem in autonomous operations of intelligent agricultural machines, was presented. The method was robust to changes in travel speeds of agricultural machines. Firstly, the space parameter-driven nonlinear relative kinematics model between the agricultural machine and the tracked path was deduced and the rationality and feasibility of designing control method based on the model was proved. Secondly, the paper dealt with the model by input-state linearization and utilized the optimal control method to stabilize the linear model obtained by feedback linearization, and an agricultural machine path tracking control law irrelevant to travel speeds was then obtained. Finally, path tracking experiments of an agricultural machine were carried out. The experimental results showed that the precision of straight path tracking and curve path tracking were 4cm and 7cm respectively and not affected by changes in travel speeds. Therefore the effectiveness and robustness of the proposed method were verified.
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Document Type期刊论文
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GB/T 7714
李逃昌,胡静涛,高雷,等. 一种与行驶速度无关的农机路径跟踪方法[J]. 农业机械学报,2014,45(2):59-65.
APA 李逃昌,胡静涛,高雷,刘晓光,&白晓平.(2014).一种与行驶速度无关的农机路径跟踪方法.农业机械学报,45(2),59-65.
MLA 李逃昌,et al."一种与行驶速度无关的农机路径跟踪方法".农业机械学报 45.2(2014):59-65.
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