Research and Experiment on Path-Tracking Control of Autonomous Tractor Based on Lateral Deviation and Yaw Rate Feedback

Zhang, Bingli; Cheng, Jin; Zheng, Pingping; Li, Aojia; Cheng, Xiaoyu

doi:10.13031/aea.14538

Cited by 6 publications

(6 citation statements)

References 20 publications

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“…When there was no angular deviation, the actual line speed moved according to the set line speed; when there was an angular deviation, within a certain range, the larger the angle deviation, the smaller the actual line speed should be, so as to avoid the robot deviating further and further away. The actual angular velocity was related to lateral deviation and heading deviation [20]. When there was lateral deviation or angular deviation, the mobile robot would generate a corresponding angular velocity to eliminate the deviation; when both the lateral deviation and the angular deviation were zero, the actual angular velocity of the mobile robot was zero.…”

Section: Motion Controlmentioning

confidence: 99%

Navigation Path Extraction and Experimental Research of Pusher Robot Based on Binocular Vision

Tian

et al. 2022

Applied Sciences

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The pushing robot working in the complex farming environment encounters several problems. For example, the precision of its navigation path extraction is low, and its working quality is greatly affected by the weather. In view of this, a method of farm operation path extraction based on machine vision is proposed in this study in order to solve the problems above and realize the autonomous and intelligent operation of the robot. First of all, the RGB images of the working area in front of the robot are obtained by using an RGB camera installed on the machine. Then, the collected images are preprocessed by means of sky removal, denoising and grayscale transformation. After that, the image is segmented to obtain the front fence, feed belt and ground data. Finally, the navigation path is obtained by extracting the features of the feed belt. The test results show that the absolute deviation of the pushing robot at different initial lateral distances is less than ±15 cm, and the deviation between the actual navigation route and the target route is within the expected range. The absolute value of the maximum lateral deviation in five test areas is 8.9 cm, and the absolute value of the average maximum lateral deviation is 7.6 cm. These experimental results show that the pushing robot can work stably without disturbing the feeding of cows. Particle swarm optimization is used to optimize the parameters of the PID and find the optimal parameters. This makes the system balanced and more responsive. Through this test, it is found that the initial direction of the robot will have a certain impact on the path production and tracking efficiency, and this effect is more significant when the robot changes the working area or turns. In which case, the trajectory of the robot should be in such a way that it immediately faces the next row at a small angular deviation, thus ensuring smoother motion. The method proposed in this study can provide support for the automatic navigation of pushing robots in dairy farms.

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Section: Motion Controlmentioning

confidence: 99%

Navigation Path Extraction and Experimental Research of Pusher Robot Based on Binocular Vision

Tian

et al. 2022

Applied Sciences

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“…However, the influence of tractor steering performance on tractor automatic driving performance is largely ignored. The tractor steering trapezoidal mechanism is a steering mechanism widely used in tractor steering systems [7]. The steering trapezoid of a tractor directly affects its steering performance.…”

Section: Introductionmentioning

confidence: 99%

“…The drawing method has a large design error, and the composite method is prone to falling into local optimal solutions, making it difficult to effectively solve the optimization problem of turning trapezoidal parameters. An optimization mathematical model is established to minimize the angle deviation, and the MATLAB optimization toolbox is used to optimize the main design parameters of the steering trapezoid [7]. The least squares method in the MATLAB optimization toolbox is used to establish and optimize the steering mathematical model to improve the steering stability of the vehicle.…”

Section: Introductionmentioning

confidence: 99%

Optimum Design of a Tractor Steering Trapezoid Based on a Hybrid Genetic Algorithm

Li,

Zhu,

Fang

et al. 2024

IEEE Access

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Tractor is the main tool of agricultural production and transportation, the performance of its various advantages and disadvantages directly affect the quality of agricultural operations. Agricultural wheeled tractor steering ladder mechanism, is the main component of the steering system. Steering trapezoidal mechanism design is good or bad, directly determines the performance of the tractor in the steering driving. To reduce tire wear during tractor steering, in this research, the steering ladder of a 75 HP tractor is optimized. The length and the initial bottom angle are determined through kinematic and geometric analysis of the steering trapezoid. the initial bottom angle is the design variable, with the actual variable angle and theoretical expectations . The relative error is the objective function . A mathematical model for the optimization design of the tractor steering trapezium is established, and a MATLAB program is developed using a hybrid genetic algorithm (HGA) to solve the problem. The results show that the steering arm length is 240 mm before optimization, the initial bottom angle is 64°, the steering arm length is 210 mm after optimization, the initial bottom angle is 61°and the objective function decreases from 19.5% to 17.8%. The verification test was carried out in the agricultural machinery test base of Anhui Agricultural University (China). The experimental results show that the RE between the measured average and the optimized the initial bottom angle is 1.49%, less than 5%. This shows that the results obtained by HGA optimization are feasible and provide a reference for improving the performance of tractor steering system.INDEX TERMS Hybrid genetic algorithm, Optimized design, Steering trapezoid, Tractor.

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“…The control mechanism of path-following usually adopts the principle of 'preview-following' 1,2 and the traditional control methods are pure pursuit tracking 3 and proportional-integral-derivative (PID) 4,5 control. However, the above methods require iterative parameter optimisation to satisfy the tracking requirements.…”

Section: Introductionmentioning

confidence: 99%

Path-following control method for articulated vehicles based on dual heuristic programming

Zhang

Cheng

et al. 2023

Proceedings of the Institution of Mechanical Engineers, Part C:

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A path-following control method based on dual heuristic programming (DHP) is proposed to address the problem whereby unmanned articulated vehicles need to set different controller parameters to track complex routes and cannot adapt to complex routes. First, the path-following control system structure is designed based on the articulated vehicle experimental platform, and the error model is derived based on the kinematic model of the articulated vehicle. Second, the payoff function is designed considering the error and stability indices, and the actor and critic of the path-following control method based on the DHP algorithm are approximated using a multilayer feedforward neural network. Finally, the path-following quality of the method is verified using simulations and real vehicle tests and compared with the conventional pure tracking and linear-quadratic regulator methods. The results show that the DHP-based method is able to follow complex reference paths and obtain better control results than the traditional methods without iterative tuning of the controller parameters, which improves the adaptiveness of the articulated vehicle path-following control method to complex environments.

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Research and Experiment on Path-Tracking Control of Autonomous Tractor Based on Lateral Deviation and Yaw Rate Feedback

Cited by 6 publications

References 20 publications

Navigation Path Extraction and Experimental Research of Pusher Robot Based on Binocular Vision

Navigation Path Extraction and Experimental Research of Pusher Robot Based on Binocular Vision

Optimum Design of a Tractor Steering Trapezoid Based on a Hybrid Genetic Algorithm

Path-following control method for articulated vehicles based on dual heuristic programming

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