基于无人驾驶电动拖拉机的自适应跟踪算法研究  

Research on adaptive tracking algorithm based on driverless electric tractor

作　　者：吴正开 王家忠[1,2] 郉雅周 弋景刚 李珊珊[1,2] 赵春明 Wu Zhengkai;Wang Jiazhong;Xing Yazhou;Yi Jinggang;Li Shanshan;Zhao Chunming(College of Mechanical and Electrical Engineering,Agricultural University of Hebei,Baoding,071001,China;Hebei Intelligent Agricultural Equipment Technology Innovation Center,Baoding,071001,China;Tianjin Yidingfeng Power Technology Co.,Ltd.,Tianjin,300380,China)

机构地区：[1]河北农业大学机电工程学院,河北保定071001 [2]河北省智慧农业装备技术创新中心,河北保定071001 [3]天津易鼎丰动力科技有限公司,天津市300380

出　　处：《中国农机化学报》2023年第11期176-183,共8页Journal of Chinese Agricultural Mechanization

基　　金：河北省重点研发项目(21327203D、22327202D)。

摘　　要：纯跟踪算法和斯坦利算法均属于对车辆前轮转角进行控制的几何跟踪方法,具有简单、直接、控制参数少、容易实现等特点。无人驾驶拖拉机作业时,由于农田作业影响因素众多,路径跟踪往往达不到理想效果,因此,根据纯跟踪算法和斯坦利算法各自特点,搭建权重分配的策略模型,提出一种自适应跟踪算法。通过优化权重参数,得出最优权重值,并在不同土壤环境、不同速度以及不同重心位置条件下,进行对比仿真试验。仿真试验表明,自适应算法应对不同作业工况时具有更好的纠偏能力。采用千寻基站将定位信号发送给车载组合导航接收机,获得整机的精准定位信息,将试验地块坐标录入到导航系统中,利用工控机规划出合理的作业路径,进行田间试验。田间试验表明,采用自适应算法,播种作业时横向偏差均值为0.03 m,地头转向时横向偏差为0.11 m, 22行作业横向偏差均值均在0.05 m之内,满足作业精度要求。Both pure tracking algorithm and Stanley algorithm are geometric tracking methods based on the control of vehicle front wheel angle,which are simple,direct,less control parameters and easy to implement,and are widely used.However,in the operation of unmanned tractor,the path tracking often fails to achieve the ideal effect due to the many influencing factors of farmland operation.In this paper,according to the characteristics of pure tracking algorithm and Stanley algorithm,an adaptive tracking algorithm is proposed,and the control model of the adaptive tracking algorithm is built.Through simulation analysis and optimization of the weight parameters,the optimal weight strategy is obtained.Comparative simulation tests were carried out under different soil environments,different velocities and different positions of the center of gravity.The simulation results show that the adaptive algorithm can realize the adaptive control under different working conditions.The positioning signal was sent to the vehicle integrated navigation receiver by the Chihiro base station,and the precise positioning information of the whole machine was obtained.The coordinates of the test plot were input into the navigation system,and the industrial computer was used to plan a reasonable operation path for the field experiment.The field experiments show that the adaptive algorithm can achieve the mean lateral deviation of 0.03 m in sowing operation and 0.11 m in field head turning.The mean lateral deviation of 22 rows of operations is within 0.05 m,which meets the requirements of operation accuracy.

关 键 词：无人驾驶 电动拖拉机 路径跟踪 自适应模型 权重策略 

分 类 号：S219.4[农业科学—农业机械化工程]