Collision risk reduction of N-trailer agricultural machinery by off-track minimization

Guevara, Leonardo; Michałek, Maciej Marcin; Cheein, Fernando Auat

doi:10.1016/j.compag.2020.105757

Cited by 18 publications

(13 citation statements)

References 24 publications

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“…where Q i is the vector of forces and moments acting on each DOF of unit i. In order to solve equation (20), which is generally converted to a normal differential equation. Let the constraint equation F q, t ð Þ= 0 take the derivative of time to obtain the constraint equation in velocity form as…”

Section: Dynamic Model Of Avrt With N-unitmentioning

confidence: 99%

“…To avoid the risk of the N-trailer vehicles colliding with the crop where the curvature changes abruptly, the paper proposed a control algorithm by adjusting the position of the virtual guide point. 20 Still, in the above research object, each unit has only a single axle and does not involve studying front axle coordinated steering control. Based on the strategy of all rear axles tracking the front axle trajectory, Zhang et al 21 proposed an adaptive tracking control method to achieve the running control of the distributed-drive and active-steering articulated vehicles; however, the study did not establish the dynamic model.…”

Section: Introductionmentioning

confidence: 99%

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A tracking control method for articulated virtual rail train with N-unit based on the dynamic model

Chen

Zhang

2023

Proceedings of the Institution of Mechanical Engineers, Part I:

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In this paper, an articulated virtual rail train running on an urban road with N-unit is introduced, and a new tracking control system is designed to realize the tracking control of the articulated virtual rail train. First, a dynamic model for the articulated virtual rail train with N-unit is derived with 11N degrees of freedom. Second, based on the dynamic model, a steering control system is designed, which includes the following sub-controllers: a unit 1 front-axle steering controller and a unit 1∼N rear-axle steering controller for approaching the virtual target path, a unit 2∼N front-axle steering controller for coordinating the movement of adjacent units, and a four-wheel-steering (4WS) controller for each unit. Finally, a numerical simulation model of the train with five units is built in MATLAB, and a cross-validation model is built in ADAMS software. The simulation and verification results show that the tracking errors are within 50 mm, and the lateral articulation forces are less than 2 kN, which indicates that the designed control system has a good tracking performance.

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Section: Dynamic Model Of Avrt With N-unitmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

A tracking control method for articulated virtual rail train with N-unit based on the dynamic model

Chen

Zhang

2023

Proceedings of the Institution of Mechanical Engineers, Part I:

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“…To achieve routine operations of spraying machinery, including spraying, walking, turning, etc., many scholars at home and abroad have conducted research on automatic driving of tractors and plant protection machinery [5,9] and navigation control systems [10][11][12][13], and have achieved certain research results. In the process of autonomous driving operations, real-time positioning and navigation control need to be carried out based on the research object of tool path tracking [14][15][16][17].…”

Section: Introductionmentioning

confidence: 99%

Research on Path Tracking of Unmanned Spray Based on Dual Control Strategy

Wen,

Ma,

Qin

et al. 2024

Agriculture

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The high clearance spray is a type of large and efficient agricultural machinery used for plant protection, and path tracking control is the key to ensure the efficient and safe operation of spray. Sliding mode control and other methods are commonly used abroad to track vehicles, while fuzzy control, neural networks and other methods are commonly used at home. However, domestic and foreign research on autonomous agricultural machinery is mainly focused on tractors and other machinery, while research on self-propelled spray in high clearance is less abundant. This paper takes the path tracking algorithm in the integrated navigation system of spray as the main research goal, studies the path tracking control algorithm for straight lines and turning curves that can realize the automatic driving of spray by establishing the path tracking algorithm for unmanned spray based on dual control strategies, designs the path tracking controller, including the preview model theoretical path tracking controller and variable domain fuzzy controller, and determines the preview model through the design of the preview model theoretical path tracking controller. The lateral and longitudinal errors of the model algorithm are analyzed, and the driving characteristics under the complex spray road surface are analyzed. The design of the variable domain fuzzy predictor theory path tracking controller is proposed, and the design of the road model selection controller is calculated and analyzed in detail, including the determination of the road roughness coefficient and the selection of the range of the difference between the average value of the excitation before and after sampling, which improves the performance of the spray path tracking algorithm. The experiment shows that the proposed path tracking control algorithm can meet the path tracking requirements of unmanned spray in the current road environment, and provide a reliable solution for the automatic control of high clearance spray.

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“…El uso de robots móviles con remolques acoplados ha permitido realizar tareas exigentes, ya que los remolques incrementan la capacidad de carga de los robots. De esta manera pueden utilizarse en aplicaciones de agricultura como ayuda en la recolección [1] y traslado de cosechas [2], fumigación de plantas [3] e incluso transporte de fuentes de energía para impulsar el propio vehículo. También se trabaja en otras aplicaciones robotizadas como el transporte de pasajeros en vehículos con remolques acoplados [4].…”

Section: π I Introducciónunclassified

Variación de la navegabilidad de un robot skid steer frente a cambios en la morfología de los remolques acoplados

García,

Martínez Delgado,

Yánez Amestica

2023

Ing.USBMed

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El efecto que produce el acoplamiento de remolques sobre la navegabilidad de robots móviles cuando se desplazan sobre superficies inclinadas no ha sido muy estudiado. Por tanto, en esta investigación se estudia la influencia de algunos factores relacionados con la morfología de los remolques sobre la estabilidad al vuelco, la capacidad de direccionamiento y la propensión al deslizamiento en un robot móvil Skid Steer que posee dos remolques acoplados. Específicamente y con base en resultados de simulación, se consideraron los siguientes factores: tipo de articulación en el acoplamiento, cantidad de cuerpos acoplados, longitud de los remolques y orientación relativa entre los remolques y el tractor. Esto, con el propósito de brindar a los desarrolladores de sistemas robot – remolques, parámetros orientativos que les permita configurar estos sistemas de manera más eficiente, y lograr un mejor desempeño en cuanto a la navegabilidad se refiere.

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Collision risk reduction of N-trailer agricultural machinery by off-track minimization

Cited by 18 publications

References 24 publications

A tracking control method for articulated virtual rail train with N-unit based on the dynamic model

A tracking control method for articulated virtual rail train with N-unit based on the dynamic model

Research on Path Tracking of Unmanned Spray Based on Dual Control Strategy

Variación de la navegabilidad de un robot skid steer frente a cambios en la morfología de los remolques acoplados

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