Design of tractor automatic driving system and research on path tracking

Abstract

In order to realize the path tracking control of agricultural tractors in field operations in complex environments, this paper designs an automatic driving system based on the Luzhong 500A tractor, and studies the path tracking. The tractor automatic driving system consists of a steering module, a shift module and a pedal module. Based on the simplified dynamic model, this paper uses improved LQR controller to achieve path tracking control, and carries out Carsim/Simulink joint simulation and field tests. The field test results show that the tractor can achieve autonomous driving, and the simulation results show that the controller can achieve path tracking.