无人驾驶拖拉机路径跟踪控制方法综述  

Overview of Path Tracking Control Methods for Unmanned Tractors

作　　者：陈建[1] 王艺霏 Chen Jian;Wang Yifei(College of Engineering,China Agricultural University,Beijing 100083,China)

机构地区：[1]中国农业大学工学院,北京100083

出　　处：《农机化研究》2024年第8期1-7,共7页Journal of Agricultural Mechanization Research

基　　金：国家自然科学基金项目(51979275);自然资源部超大城市自然资源时空大数据分析应用重点实验室开放基金项目(KFKT-2022-05);自然资源部城市国土资源监测与仿真重点实验室开放基金资项目(KF-2021-06-115);虚拟现实技术与系统国家重点实验室(北京航空航天大学)开放课题基金(VRLAB2022C10);中国农业大学2115人才工程项目(2016008)。

摘　　要：为加快农业现代化的发展,农机自动化、智能化是我国农业机械的发展趋势。无人驾驶拖拉机能够提高作业精度与作业效率,减少投入成本,是近年来智能农机装备领域的重要研究对象。为此,介绍了无人驾驶拖拉机的两种主要建模方法以及5种路径跟踪控制方法。同时,对该技术发展提出了建议:应进一步深入研究曲线行驶和转弯控制方法,分析不同路面的影响,综合考虑成本与控制方法鲁棒性、适应性之间的平衡关系。In order to accelerate the development of agricultural modernization,agricultural machinery automation and in-telligence are the development trend of China's agricultural machinery.Unmanned tractors can improve work accuracy and work efficiency,reduce input costs,and are an important research object in the field of intelligent agricultural ma-chinery equipment in recent years.This article summarizes the two main modeling methods of unmanned tractors and five path tracking control methods,and puts forward the research suggestions for the future of the technology.The curve driving and turning control methods should be further studied,and the impact of different roads should be studied in depth,and comprehensively consider the balance between cost and control method robustness and overview of path track-ing control methods for unmanned tractors adaptability.

关 键 词：拖拉机 无人驾驶 路径跟踪 

分 类 号：S219.0[农业科学—农业机械化工程]