基于预瞄追踪模型的农机导航路径跟踪控制方法
|
摘要
农机导航系统的上线性能和复杂路面抗干扰能力影响着农田作业的质量和效率,为提高农机导航系统的上线速度、上线稳定性和对复杂路面的适应性,提出了一种预瞄追踪模型的农机导航路径跟踪控制方法。该方法实质是对农机运动学模型方法的改进,针对农机运动学模型小角度线性化算法中近似条件的缺点,采用预瞄追踪辅助直线引导农机快速稳定跟踪规划路径。该文参考农机运动学模型极点最优配置算法证明过程,分3步证明了该控制方法的可行性,并通过仿真和试验验证了该方法的有效性。仿真结果显示在不同的初始位置偏差和航向偏差条件下该方法都可以迅速消除偏差以稳定跟踪规划路径,位置偏差校正曲线平滑且超调量微小,说明预瞄追踪模型方法对提高农机导航系统的上线性能和抗干扰能力是有效的。田间试验结果:在初始航向偏差为0,初始位置偏差分别为0.5、1、1.5 m条件下,上线时间分别为6.8、8.2、9.4 s,上线距离分别为6.73、8.11、9.33 m,超调量分别为5.2、7.0、8.5 cm;颠簸不平旱地路面直线路径跟踪的最大误差不超过4.23 cm,误差绝对值的平均值为1 cm,标准差为1.25 cm。数据表明采用该文提出的控制方法具有良好的上线和直线路径跟踪效果,满足农业机械的导航作业要求。
Agricultural machine automatic navigation is one of the key technologies in precision agriculture technology system, the in-depth study is important in scientific research, application and social values. In this paper, we investigated the navigation problems in the application of the farm work, including slow on-line speed, bad on-line stability, and poor adaptability of bumpy complex road surface. These problems can be summarized as the speed and stability problems of track tracking in the case of large position deviation or large course deviation. Through the analysis of the work principle and control parameters function of the navigation, a conclusion is made that the correct speed and stability of the position deviation and course deviation of agricultural machinery can be improved by allocating the weight of the position deviation wheel angle decision quantity and course deviation wheel angle decision quantity reasonably. Then in this paper, we developed the navigation control algorithm based on the agricultural machine kinematics model and the pole optimal configuration theory. Because of the small angle linearization of course deviation angle and wheel angle during the deducing, the control law can achieve good control effect only in the ideal straight path tracking control with small position deviation, course deviation, and wheel angle. Based on this, a path tracking control method of aiming pursuit model for agricultural machine navigation was proposed aiming at improving the on-line speed, stability and adaptability to complex road surface of the automatic navigation system of agricultural machine. In this method, we selected a tracking target point on the planning path of agricultural machine ahead, and tracked the target point by controlling the steering wheel angle. The direction of the agricultural machine vehicle center point to the target point was called as the aiming course. The desired steering angle would be larger when the deviation was larger between the course of agricultural machine and the aiming course, with a rapid correction of aiming course deviation to achieve the goal of fast tracking the target path. On the other hand, the desired steering angle would be smaller when the deviation was smaller between the course of agricultural machine and the aiming course, with a stable tracking to aiming path to achieve the goal of stable tracking the target path. In this model, the steering wheel angle was designed to be K times of the aiming course deviation and K was called as control gain. The length of the projection of the agricultural machine vehicle center to the target point vector on the planning path was named as the preview distance. The control gain and the preview distance were two important parameters that affected the control effect of the model. In this paper, there were three steps to prove the feasibility of the method. The control gain K and the preview distance were set up by referring to the result of the pole optimal configuration method based on the kinematic model of agricultural machine. By comparing two methods formula, the position deviation wheel angle decision quantity had a linear relationship with the position deviation in the kinematics model method and the position deviation wheel angle decision quantity had an inverse tangent function relationship with the position deviation. The inverse tangent function relation was more beneficial to maintain proper weight of position deviation wheel angle decision quantity and course deviation wheel angle decision quantity that would make the path tracking control of agricultural machinery navigation more rapid and stable. Simulation analysis results of aiming pursuit model algorithm in different position and different course deviation showed that the proposed method had a fast and stable path tracking performance and good robustness and adaptability to the navigation path tracking. The test results of agricultural machine showed that the control method proposed in this paper had a good effect in the rapid responsibility and line tracking performance. In the case of 0.5, 1, 1.5 m initial position error, the on-line time was 6.8, 8.2, 9.4 s, respectively, the corresponding travelling distance was 6.73, 8.11 and 9.33 m, respectively and the corresponding overshoot was 5.2, 7.0, 8.5 cm, respectively. The maximum error of straight-line path tracking for bumpy uneven field was not more than 4.23 cm, the mean value of the absolute value of the error was 1 cm, and the standard deviation was 1.25 cm, which satisfied the operation requirements of agricultural machine.
Agricultural machine automatic navigation is one of the key technologies in precision agriculture technology system, the in-depth study is important in scientific research, application and social values. In this paper, we investigated the navigation problems in the application of the farm work, including slow on-line speed, bad on-line stability, and poor adaptability of bumpy complex road surface. These problems can be summarized as the speed and stability problems of track tracking in the case of large position deviation or large course deviation. Through the analysis of the work principle and control parameters function of the navigation, a conclusion is made that the correct speed and stability of the position deviation and course deviation of agricultural machinery can be improved by allocating the weight of the position deviation wheel angle decision quantity and course deviation wheel angle decision quantity reasonably. Then in this paper, we developed the navigation control algorithm based on the agricultural machine kinematics model and the pole optimal configuration theory. Because of the small angle linearization of course deviation angle and wheel angle during the deducing, the control law can achieve good control effect only in the ideal straight path tracking control with small position deviation, course deviation, and wheel angle. Based on this, a path tracking control method of aiming pursuit model for agricultural machine navigation was proposed aiming at improving the on-line speed, stability and adaptability to complex road surface of the automatic navigation system of agricultural machine. In this method, we selected a tracking target point on the planning path of agricultural machine ahead, and tracked the target point by controlling the steering wheel angle. The direction of the agricultural machine vehicle center point to the target point was called as the aiming course. The desired steering angle would be larger when the deviation was larger between the course of agricultural machine and the aiming course, with a rapid correction of aiming course deviation to achieve the goal of fast tracking the target path. On the other hand, the desired steering angle would be smaller when the deviation was smaller between the course of agricultural machine and the aiming course, with a stable tracking to aiming path to achieve the goal of stable tracking the target path. In this model, the steering wheel angle was designed to be K times of the aiming course deviation and K was called as control gain. The length of the projection of the agricultural machine vehicle center to the target point vector on the planning path was named as the preview distance. The control gain and the preview distance were two important parameters that affected the control effect of the model. In this paper, there were three steps to prove the feasibility of the method. The control gain K and the preview distance were set up by referring to the result of the pole optimal configuration method based on the kinematic model of agricultural machine. By comparing two methods formula, the position deviation wheel angle decision quantity had a linear relationship with the position deviation in the kinematics model method and the position deviation wheel angle decision quantity had an inverse tangent function relationship with the position deviation. The inverse tangent function relation was more beneficial to maintain proper weight of position deviation wheel angle decision quantity and course deviation wheel angle decision quantity that would make the path tracking control of agricultural machinery navigation more rapid and stable. Simulation analysis results of aiming pursuit model algorithm in different position and different course deviation showed that the proposed method had a fast and stable path tracking performance and good robustness and adaptability to the navigation path tracking. The test results of agricultural machine showed that the control method proposed in this paper had a good effect in the rapid responsibility and line tracking performance. In the case of 0.5, 1, 1.5 m initial position error, the on-line time was 6.8, 8.2, 9.4 s, respectively, the corresponding travelling distance was 6.73, 8.11 and 9.33 m, respectively and the corresponding overshoot was 5.2, 7.0, 8.5 cm, respectively. The maximum error of straight-line path tracking for bumpy uneven field was not more than 4.23 cm, the mean value of the absolute value of the error was 1 cm, and the standard deviation was 1.25 cm, which satisfied the operation requirements of agricultural machine.
引文
[1]胡静涛,高雷,白晓平,等.农业机械自动导航技术研究进展[J].农业工程学报,2015,31(10):1-10.Hu Jingtao,Gao Lei,Bai Xiaoping,et al.Review of research on automatic guidance of agricultural vehicles[J]Transactions of the Chinese Society of Agricultural Engineering(Transactions of the CSAE),2015,31(10):1-10.(in Chinese with English abstract)
[2]姬长英,周俊.农业机械导航技术发展分析[J].农业机械学报,2014,45(9):44-54.Ji Changying,Zhou Jun.Current situation of navigation technologies for agricultural machinery[J].Transactions of the Chinese Society for Agricultural Machinery,2014,45(9):44-54.(in Chinese with English abstract)
[3]O’Connor M L.Carrier-phase Differential GPS for Automatic Control of Land Vehicles[D].Stanford:Stanford University,1997.
[4]陈军,朱忠祥,鸟巢谅,等.拖拉机沿曲线路径的跟踪控制[J].农业工程学报,2006,22(11):108-111.Chen Jun,Zhu Zhongxiang,Torisu R,et al.On-tracking control of tractor running along curved path[J].Transactions of the Chinese Society of Agricultural Engineering(Transactions of the CSAE),2006,22(11):108-111.(in Chinese with English abstract)
[5]Zhu Zhongxiang,Chen Jun,Yoshida Toyofumi,et al.Path tracking control of autonomous agricultural mobile robots[J]Journal of Zhejiang University-Science A,2007,8(10):1596-1603.
[6]罗锡文,张智刚,赵祚喜,等.东方红X-804拖拉机的DGPS自动导航控制系统[J].农业工程学报,2009,25(11):139-145.Luo Xiwen,Zhang Zhigang,Zhao Zuoxi,et al.Design of DGPS navigation control system for Dong fang hong X-804tractor[J].Transactions of the Chinese Society of Agricultural Engineering(Transactions of the CSAE),2009,25(11):139-145.(in Chinese with English abstract)
[7]刘兆朋,张智刚,罗锡文,等.雷沃ZP9500高地隙喷雾机的GNSS自动导航作业系统设计[J].农业工程学报,2018,34(1):15-21.Liu Zhaopeng,Zhang Zhigang,Luo Xiwen,et al.Design of automatic navigation operation system for Lovol ZP9500high clearance boom sprayer based on GNSS[J].Transactions of the Chinese Society of Agricultural Engineering(Transactions of the CSAE),2018,34(1):15-21.(in Chinese with English abstract)
[8]李逃昌,胡静涛,高雷,等.一种与行驶速度无关的农机路径跟踪方法[J].农业机械学报,2014,45(2):59-65.Li Taochang,Hu Jingtao,Gao Lei,et al.Agricultural machine path tracking method irrelevant to travel speed[J].Transactions of the Chinese Society for Agricultural Machinery,2014,45(2):59-65.(in Chinese with English abstract)
[9]白晓平,胡静涛,高雷,等.农机导航自校正模型控制方法研究[J].农业机械学报,2015,46(2):1-7.Bai Xiaoping,Hu Jingtao,Gao Lei,et al.Self-tuning model control method for farm machine navigation[J].Transactions of the Chinese Society for Agricultural Machinery,2015,46(2):1-7.(in Chinese with English abstract)
[10]陈军,鸟巢谅,朱忠祥,等.拖拉机在牧草地上自动引导行走的控制[J].农业机械学报,2005,36(7):104-107.Chen Jun,Torisu R,Zhu Zhongxiang,et al.Study on automatic guidance for tractor on grassland[J].Transactions of the Chinese Society for Agricultural Machinery,2005,36(7):104-107.(in Chinese with English abstract)
[11]Bevly D M,Gerdes J C,Parkinson B W.A new yaw dynamic model for improved high speed control of a farm tractor[J].ASME Journal of Dynamic Systems,Measurement,and Control,2002,124(4):659-667.
[12]Bevly D M.High Speed,Dead Reckoning,and Towed Implement Control for Automatically Steered Farm Tractors Using GPS[D].Stanford:Stanford University,2001.
[13]Eaton R,Pota H,Katupitiya J.Path tracking control of agricultural tractors with compensation for steering dynamics[C]//Proceedings of the 48th IEEE Conference on Decision and Control.Shanghai,P.R.China,2009:7357-7362.
[14]Eaton R,Katupitiya H,Pota H,et al.Robust sliding mode control of an agricultural tractor under the influence of slip[C]//Proceedings of 2009 IEEE/ASME International Conference on Advanced Intelligent Mechatronics:1873-1878.
[15]Zhang Q,Qiu H.A dynamic path search algorithm for tractor automatic navigation[J].Transactions of the ASAE,2004,47(2):639-646.
[16]Qiu H.Navigation Control for Autonomous Tractor Guidance[D].Urbana-Champaign:University of Illinois at Urbana-Champaign,2002.
[17]冯雷.基于GPS和传感技术的农用车辆自动导航系统的研究[D].杭州:浙江大学,2004.Feng Lei.Study on Navigation System for Off-Road Vehicle Guidance based on GPS and Sensor Technology[D].Hangzhou:Zhejiang University,2004.(in Chinese with English abstract)
[18]孙木楠,孙怀江.纯追踪模型研究[J].机器人,2001,23(增刊1):36-39.Sun Munan,Sun Huaijiang.A study on pure prusuit model[J].Robot,2001,23(Supp.1):36-39.
[19]张智刚,罗锡文,赵祚喜,等.基于Kalman滤波和纯追踪模型的农业机械导航控制[J].农业机械学报,2009,40(增刊):6-12.Zhang Zhigang,Luo Xiwen,Zhao Zuoxi,et al.Trajectory tracking control method based on Kalman filter and pure pursuit model for agricultural vehicle[J].Transactions of the Chinese Society for Agricultural Machinery,2009,40(Supp.):6-12.(in Chinese with English abstract)
[20]黄沛琛,罗锡文,张智刚,改进纯追踪模型的农业机械地头转向控制方法[J].计算机工程与应用,2010,46(21):216-219.Huang Peichen,Luo Xiwen,Zhang Zhigang.Control method of headland turning based on improved pure pursuit model for agricultural machine[J].Computer Engineering and Applications,2010,46(21):216-219.(in Chinese with English abstract)
[21]连世江,陈军,贾海政,等.基于模糊控制的拖拉机转向跟踪控制研究[J].西北农林科技大学学报:自然科学版,2009,37(9):224-228.Lian Shijiang,Chen Jun,Jia Haizheng,et al.Heading following control of tractor based on fuzzy control[J].Journal of Northwest A&F University:Natural Science Edition,2009,37(9):224-228.(in Chinese with English abstract)
[22]周建军,张漫,汪懋华,等.基于模糊控制的农用车辆路线跟踪[J].农业机械学报,2009,40(4):151-156.Zhou Jianjun,Zhang Man,Wang Maohua,et al.Path tracking for agricultural vehicle based on fuzzy control[J].Transactions of the Chinese Society for Agricultural Machinery,2009,40(4):151-156.(in Chinese with English abstract)
[23]陈军,朱忠祥,鸟巢谅,等.基于神经网络的农用车辆自动跟踪控制[J].农业机械学报,2007,38(5):131-133.Chen Jun,Zhu Zhongxiang,Torisu R,et al.Automatic on-tracking control of farm vehicle based on neural network[J].Transactions of the Chinese Society for Agricultural Machinery,2007,38(5):131-133.(in Chinese with English abstract)
[24]白晓鸽,陈军,朱磊,等.基于神经网络的拖拉机自动导航系统[J].农机化研究,2010,32(4):75-77.Bai Xiaoge,Chen Jun,Zhu Lei,et al.Automatic navigation control system of tractor based on neural network[J].Journal of Agricultural Mechanization Research,2010,32(4):75-77.(in Chinese with English abstract)
[25]刘兆祥,刘刚,籍颖,等.基于自适应模糊控制的拖拉机自动导航系统[J].农业机械学报,2010,41(11):148-152,162.Liu Zhaoxiang,Liu Gang,Ji Ying,et al.Autonomous navigation system for agricultural tractor based on self-adapted fuzzy control[J].Transactions of the Chinese Society for Agricultural Machinery,2010,41(11):148-152,162.(in Chinese with English abstract)
[26]李逃昌,胡静涛,高雷,等.基于模糊自适应纯追踪模型的农业机械路径跟踪方法[J].农业机械学报,2013,44(1):205-210.Li Taochang,Hu Jingtao,Gao Lei,et al.Agricultural machine path tracking method based on fuzzy adaptive pure pursuit model[J].Transactions of the Chinese Society for Agricultural Machinery,2013,44(1):205-210.(in Chinese with English abstract)
[27]John W,Peake,San F.Method and Apparatus for Automatic Vehicle Guidance Using Continuous 2-D Poly-Point Path:US 813145B2[P].2012-05-06.
[28]郭孔辉.驾驶员-汽车闭环系统操纵运动预瞄最优曲率模型[J].汽车工程,1984,6(3):1-16.Guo Konghui.Driver-vehicle closed-loop simulation of handling by“preview optimal curvature method”[J].Automotive Engineering,1984,6(3):1-16.(in Chinese with English abstract)
[29]高振海.汽车方向预瞄式自适应PD控制算法[J].机械工程学报,2004,40(5):101-105.Gao Zhenhai.Vehicle direction preview adaptive PD control algorithm[J].Chinese Journal of Mechnical Engneering,2004,40(5):101-105.(in Chinese with English abstract)
[30]明廷友.智能汽车的轨迹跟随控制研究[D].长春:吉林大学,2016.Ming Tingyou.Research on Trajectory Tracking Control for Intelligent Vehicle[D].Changchun:Jilin University,2016.(in Chinese with English abstract)
[31]张智刚,罗锡文,李俊岭.轮式农业机械自动转向控制系统研究[J].农业工程学报,2005,21(11):77-80.Zhang Zhigang,Luo Xiwen,Li Junling.Automatic steering control system of wheeled model farming machinery[J].Transactions of the Chinese Society of Agricultural Engineering(Transactions of the CSAE),2005,21(11):77-80.(in Chinese with English abstract)
[32]张智刚.插秧机的DGPS自动导航控制系统研究[D].广州:华南农业大学,2006.Zhang Zhigang.Automatic Guidance System Based on DGPS for Rice Transplanter[D].Guangzhou:South China Agricultural University.
[2]姬长英,周俊.农业机械导航技术发展分析[J].农业机械学报,2014,45(9):44-54.Ji Changying,Zhou Jun.Current situation of navigation technologies for agricultural machinery[J].Transactions of the Chinese Society for Agricultural Machinery,2014,45(9):44-54.(in Chinese with English abstract)
[3]O’Connor M L.Carrier-phase Differential GPS for Automatic Control of Land Vehicles[D].Stanford:Stanford University,1997.
[4]陈军,朱忠祥,鸟巢谅,等.拖拉机沿曲线路径的跟踪控制[J].农业工程学报,2006,22(11):108-111.Chen Jun,Zhu Zhongxiang,Torisu R,et al.On-tracking control of tractor running along curved path[J].Transactions of the Chinese Society of Agricultural Engineering(Transactions of the CSAE),2006,22(11):108-111.(in Chinese with English abstract)
[5]Zhu Zhongxiang,Chen Jun,Yoshida Toyofumi,et al.Path tracking control of autonomous agricultural mobile robots[J]Journal of Zhejiang University-Science A,2007,8(10):1596-1603.
[6]罗锡文,张智刚,赵祚喜,等.东方红X-804拖拉机的DGPS自动导航控制系统[J].农业工程学报,2009,25(11):139-145.Luo Xiwen,Zhang Zhigang,Zhao Zuoxi,et al.Design of DGPS navigation control system for Dong fang hong X-804tractor[J].Transactions of the Chinese Society of Agricultural Engineering(Transactions of the CSAE),2009,25(11):139-145.(in Chinese with English abstract)
[7]刘兆朋,张智刚,罗锡文,等.雷沃ZP9500高地隙喷雾机的GNSS自动导航作业系统设计[J].农业工程学报,2018,34(1):15-21.Liu Zhaopeng,Zhang Zhigang,Luo Xiwen,et al.Design of automatic navigation operation system for Lovol ZP9500high clearance boom sprayer based on GNSS[J].Transactions of the Chinese Society of Agricultural Engineering(Transactions of the CSAE),2018,34(1):15-21.(in Chinese with English abstract)
[8]李逃昌,胡静涛,高雷,等.一种与行驶速度无关的农机路径跟踪方法[J].农业机械学报,2014,45(2):59-65.Li Taochang,Hu Jingtao,Gao Lei,et al.Agricultural machine path tracking method irrelevant to travel speed[J].Transactions of the Chinese Society for Agricultural Machinery,2014,45(2):59-65.(in Chinese with English abstract)
[9]白晓平,胡静涛,高雷,等.农机导航自校正模型控制方法研究[J].农业机械学报,2015,46(2):1-7.Bai Xiaoping,Hu Jingtao,Gao Lei,et al.Self-tuning model control method for farm machine navigation[J].Transactions of the Chinese Society for Agricultural Machinery,2015,46(2):1-7.(in Chinese with English abstract)
[10]陈军,鸟巢谅,朱忠祥,等.拖拉机在牧草地上自动引导行走的控制[J].农业机械学报,2005,36(7):104-107.Chen Jun,Torisu R,Zhu Zhongxiang,et al.Study on automatic guidance for tractor on grassland[J].Transactions of the Chinese Society for Agricultural Machinery,2005,36(7):104-107.(in Chinese with English abstract)
[11]Bevly D M,Gerdes J C,Parkinson B W.A new yaw dynamic model for improved high speed control of a farm tractor[J].ASME Journal of Dynamic Systems,Measurement,and Control,2002,124(4):659-667.
[12]Bevly D M.High Speed,Dead Reckoning,and Towed Implement Control for Automatically Steered Farm Tractors Using GPS[D].Stanford:Stanford University,2001.
[13]Eaton R,Pota H,Katupitiya J.Path tracking control of agricultural tractors with compensation for steering dynamics[C]//Proceedings of the 48th IEEE Conference on Decision and Control.Shanghai,P.R.China,2009:7357-7362.
[14]Eaton R,Katupitiya H,Pota H,et al.Robust sliding mode control of an agricultural tractor under the influence of slip[C]//Proceedings of 2009 IEEE/ASME International Conference on Advanced Intelligent Mechatronics:1873-1878.
[15]Zhang Q,Qiu H.A dynamic path search algorithm for tractor automatic navigation[J].Transactions of the ASAE,2004,47(2):639-646.
[16]Qiu H.Navigation Control for Autonomous Tractor Guidance[D].Urbana-Champaign:University of Illinois at Urbana-Champaign,2002.
[17]冯雷.基于GPS和传感技术的农用车辆自动导航系统的研究[D].杭州:浙江大学,2004.Feng Lei.Study on Navigation System for Off-Road Vehicle Guidance based on GPS and Sensor Technology[D].Hangzhou:Zhejiang University,2004.(in Chinese with English abstract)
[18]孙木楠,孙怀江.纯追踪模型研究[J].机器人,2001,23(增刊1):36-39.Sun Munan,Sun Huaijiang.A study on pure prusuit model[J].Robot,2001,23(Supp.1):36-39.
[19]张智刚,罗锡文,赵祚喜,等.基于Kalman滤波和纯追踪模型的农业机械导航控制[J].农业机械学报,2009,40(增刊):6-12.Zhang Zhigang,Luo Xiwen,Zhao Zuoxi,et al.Trajectory tracking control method based on Kalman filter and pure pursuit model for agricultural vehicle[J].Transactions of the Chinese Society for Agricultural Machinery,2009,40(Supp.):6-12.(in Chinese with English abstract)
[20]黄沛琛,罗锡文,张智刚,改进纯追踪模型的农业机械地头转向控制方法[J].计算机工程与应用,2010,46(21):216-219.Huang Peichen,Luo Xiwen,Zhang Zhigang.Control method of headland turning based on improved pure pursuit model for agricultural machine[J].Computer Engineering and Applications,2010,46(21):216-219.(in Chinese with English abstract)
[21]连世江,陈军,贾海政,等.基于模糊控制的拖拉机转向跟踪控制研究[J].西北农林科技大学学报:自然科学版,2009,37(9):224-228.Lian Shijiang,Chen Jun,Jia Haizheng,et al.Heading following control of tractor based on fuzzy control[J].Journal of Northwest A&F University:Natural Science Edition,2009,37(9):224-228.(in Chinese with English abstract)
[22]周建军,张漫,汪懋华,等.基于模糊控制的农用车辆路线跟踪[J].农业机械学报,2009,40(4):151-156.Zhou Jianjun,Zhang Man,Wang Maohua,et al.Path tracking for agricultural vehicle based on fuzzy control[J].Transactions of the Chinese Society for Agricultural Machinery,2009,40(4):151-156.(in Chinese with English abstract)
[23]陈军,朱忠祥,鸟巢谅,等.基于神经网络的农用车辆自动跟踪控制[J].农业机械学报,2007,38(5):131-133.Chen Jun,Zhu Zhongxiang,Torisu R,et al.Automatic on-tracking control of farm vehicle based on neural network[J].Transactions of the Chinese Society for Agricultural Machinery,2007,38(5):131-133.(in Chinese with English abstract)
[24]白晓鸽,陈军,朱磊,等.基于神经网络的拖拉机自动导航系统[J].农机化研究,2010,32(4):75-77.Bai Xiaoge,Chen Jun,Zhu Lei,et al.Automatic navigation control system of tractor based on neural network[J].Journal of Agricultural Mechanization Research,2010,32(4):75-77.(in Chinese with English abstract)
[25]刘兆祥,刘刚,籍颖,等.基于自适应模糊控制的拖拉机自动导航系统[J].农业机械学报,2010,41(11):148-152,162.Liu Zhaoxiang,Liu Gang,Ji Ying,et al.Autonomous navigation system for agricultural tractor based on self-adapted fuzzy control[J].Transactions of the Chinese Society for Agricultural Machinery,2010,41(11):148-152,162.(in Chinese with English abstract)
[26]李逃昌,胡静涛,高雷,等.基于模糊自适应纯追踪模型的农业机械路径跟踪方法[J].农业机械学报,2013,44(1):205-210.Li Taochang,Hu Jingtao,Gao Lei,et al.Agricultural machine path tracking method based on fuzzy adaptive pure pursuit model[J].Transactions of the Chinese Society for Agricultural Machinery,2013,44(1):205-210.(in Chinese with English abstract)
[27]John W,Peake,San F.Method and Apparatus for Automatic Vehicle Guidance Using Continuous 2-D Poly-Point Path:US 813145B2[P].2012-05-06.
[28]郭孔辉.驾驶员-汽车闭环系统操纵运动预瞄最优曲率模型[J].汽车工程,1984,6(3):1-16.Guo Konghui.Driver-vehicle closed-loop simulation of handling by“preview optimal curvature method”[J].Automotive Engineering,1984,6(3):1-16.(in Chinese with English abstract)
[29]高振海.汽车方向预瞄式自适应PD控制算法[J].机械工程学报,2004,40(5):101-105.Gao Zhenhai.Vehicle direction preview adaptive PD control algorithm[J].Chinese Journal of Mechnical Engneering,2004,40(5):101-105.(in Chinese with English abstract)
[30]明廷友.智能汽车的轨迹跟随控制研究[D].长春:吉林大学,2016.Ming Tingyou.Research on Trajectory Tracking Control for Intelligent Vehicle[D].Changchun:Jilin University,2016.(in Chinese with English abstract)
[31]张智刚,罗锡文,李俊岭.轮式农业机械自动转向控制系统研究[J].农业工程学报,2005,21(11):77-80.Zhang Zhigang,Luo Xiwen,Li Junling.Automatic steering control system of wheeled model farming machinery[J].Transactions of the Chinese Society of Agricultural Engineering(Transactions of the CSAE),2005,21(11):77-80.(in Chinese with English abstract)
[32]张智刚.插秧机的DGPS自动导航控制系统研究[D].广州:华南农业大学,2006.Zhang Zhigang.Automatic Guidance System Based on DGPS for Rice Transplanter[D].Guangzhou:South China Agricultural University.