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Agricultural Machine Path Tracking Method Irrelevant to Travel Speeds
Authors
刘晓光
李逃昌
+3 more
白晓平
胡静涛
高雷
Publication date
1 January 2014
Publisher
Abstract
针对智能农机自主作业中的路径跟踪控制问题,提出一种与行驶速度无关的农机路径跟踪方法,该方法对农机行驶速度的变化具有鲁棒性。首先建立了空间参数驱动的非线性相对运动学模型,并证明了基于该模型进行控制方法设计的合理性和可行性。然后对此模型进行反馈线性化和最优控制设计,得到一种与速度无关的农机路径跟踪控制律。最后进行了实车的路径跟踪实验,实验结果表明该方法的直线路径跟踪精度为4cm,曲线路径跟踪精度为7cm,且跟踪精度不受速度变化的影响,验证了该方法的有效性和对速度变化的鲁棒性
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Institutional Repository of Institute of Automation, CAS
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Last time updated on 29/11/2016
Shenyang Institute of Automation,Chinese Academy Of Sciences
See this paper in CORE
Go to the repository landing page
Download from data provider
oai:ir.sia.cn/:173321/14681
Last time updated on 12/02/2018