An independent steering driving system to realize headland turning of unmanned tractors

Yang, Yang; Zhang, Gang; Chen, Zhizhen; Wen, Xing Ping; Cheng, Shangkun; Ma, Qianglong; Qi, Jian; Zhou, Yang; Chen, Liqing

doi:10.1016/j.compag.2022.107278

Cited by 12 publications

(3 citation statements)

References 20 publications

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“…The average trajectory length measured 11.84 m, with an average completion time of 28.4 s [56]. According to research, for the direct headland turning approach, the track length measured 3.96 ± 0.07 m, and the turning time was 21.15 ± 1.12 s. Comparatively, the direct headland turning method saved 46.3% of the time compared to bulb turning, 53.2% compared to fishtail turning, and 65.7% compared to the dynamic circle-back technique [57]. Different routes are used for different operational requirements.…”

Section: Operation State Perception Methods Advantages Disadvantagesmentioning

confidence: 99%

Applications of Autonomous Navigation Technologies for Unmanned Agricultural Tractors: A Review

Qu,

Zhang,

Qin

et al. 2024

Machines

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The development of unmanned agricultural tractors (UAT) represents a significant step towards intelligent agricultural equipment. UAT technology is expected to lighten the workload of laborers and enhance the accuracy and efficiency of mechanized operations. Through the investigation of 123 relevant studies in the literature published in recent years, this article reviews three aspects of autonomous navigation technologies for UATs: perception, path planning and tracking, and motion control. The advantages and deficiencies of these technologies in the context of UATs are clarified by analyzing technical principles and the status of current research. We conduct summaries and analyses of existing unmanned navigation solutions for different application scenarios in order to identify current bottleneck issues. Based on the analysis of the applicability of autonomous navigation technologies in UATs, it can be seen that fruitful research progress has been achieved. The review also summarizes the common problems seen in current UAT technologies. The application of research to the sharing and integrating of multi-source data for autonomous navigation has so far been relatively weak. There is an urgent need for high-precision and high-stability sensing equipment. The universality of path planning methods and the efficiency and precision of path tracking need to be improved, and it is also necessary to develop highly reliable electrical control modules to enhance motion control performance. Overall, advanced sensors, high-performance intelligent algorithms, and reliable electrical control hardware are key factors in promoting the development of UAT technology.

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Section: Operation State Perception Methods Advantages Disadvantagesmentioning

confidence: 99%

Applications of Autonomous Navigation Technologies for Unmanned Agricultural Tractors: A Review

Qu,

Zhang,

Qin

et al. 2024

Machines

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“…Agricultural robots are also used to lift heavy agricultural products such as watermelons or cabbage [64]. Yang et al [65] designed an electro-hydraulic servo controller, based on a hydraulic drive auxiliary wheel structure for the problem of complex turning at the front of an unmanned tractor. The designed electro-hydraulic system can realize auxiliary wheel automatic steering, lifting, and driving, as shown in Figure 4.…”

Section: Hydraulic Drive Systemsmentioning

confidence: 99%

Actuators and Sensors for Application in Agricultural Robots: A Review

et al. 2022

Self Cite

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In recent years, with the rapid development of science and technology, agricultural robots have gradually begun to replace humans, to complete various agricultural operations, changing traditional agricultural production methods. Not only is the labor input reduced, but also the production efficiency can be improved, which invariably contributes to the development of smart agriculture. This paper reviews the core technologies used for agricultural robots in non-structural environments. In addition, we review the technological progress of drive systems, control strategies, end-effectors, robotic arms, environmental perception, and other related systems. This research shows that in a non-structured agricultural environment, using cameras and light detection and ranging (LiDAR), as well as ultrasonic and satellite navigation equipment, and by integrating sensing, transmission, control, and operation, different types of actuators can be innovatively designed and developed to drive the advance of agricultural robots, to meet the delicate and complex requirements of agricultural products as operational objects, such that better productivity and standardization of agriculture can be achieved. In summary, agricultural production is developing toward a data-driven, standardized, and unmanned approach, with smart agriculture supported by actuator-driven-based agricultural robots. This paper concludes with a summary of the main existing technologies and challenges in the development of actuators for applications in agricultural robots, and the outlook regarding the primary development directions of agricultural robots in the near future.

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“…A number of researchers make great efforts in fabricating automatic systems for operation of off-road vehicles featured hydraulic power assisted steering (HPAS) systems. The automatic steering system contributes as the actuator for executing commands generated by the navigation system, which intrinsically determines the navigation performance [7][8][9][10] . For aftermarket applications, solutions to automatic steering by using hydraulic power were adopted by some researchers and manufacturers with consideration that the hydraulic power could be bypassed from original pipelines to through the electro-magnetic hydraulic servo valves that automatically alter the hydraulic oil flow by receiving electrical signals [11][12][13] .…”

Section: Introductionmentioning

confidence: 99%

Development of the electric automatic steering system for agricultural vehicles

An,

Yu,

et al. 2024

International Journal of Agricultural and Biological Engineering

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Automatic guidance of agricultural vehicles requires automatic execution of operation commands received from the navigation controller by using electronically controlled mechanisms for wheel steering, speed changing and work implementing. Automatic steering contributes as a prerequisite technique in automatic and semi-automatic agricultural navigation. This research aimed to develop an electric automatic steering system that was compact in its structure and integrated into original steering mechanism in a simply and convenient way for aftermarket modification. A brushless motor and reducer assembly was utilized to provide an adequate steering torque instead of manual maneuver. A rapid assembling approach was proposed by passing the steering shaft through the hollow output shaft. A digital proportional-integral-differential (PID) algorithm was implemented to calculate the rotation speeds and directions by comparing the desired angle and the actual angle, which was implemented in a printed circuit board with a microcontroller unit (MCU) and interface chips. An unmanned wheeled tractor was applied as test platform to integrate the newly developed electric automatic steering system. Tests were conducted to evaluate its performance in terms of stability and responsiveness. An autonomous navigation system guided the tractor along target paths in the field by sending steering commands to the electric automatic steering system. The results show that the steering angle error was less than 0.81° when desired steering angle was less than 10°. The lateral error difference was no more than 4.76 cm when repeating following the same target path, which indicated that the electric automatic steering system responded accurately and robustly to steering commands.

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An independent steering driving system to realize headland turning of unmanned tractors

Cited by 12 publications

References 20 publications

Applications of Autonomous Navigation Technologies for Unmanned Agricultural Tractors: A Review

Applications of Autonomous Navigation Technologies for Unmanned Agricultural Tractors: A Review

Actuators and Sensors for Application in Agricultural Robots: A Review

Development of the electric automatic steering system for agricultural vehicles

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