农业机械学报2017，Vol.48Issue(7)：14-21,8.DOI:10.6041/j.issn.1000-1298.2017.07.002
基于领航-跟随结构的联合收获机群协同导航控制方法
Harvester Group Corporative Navigation Method Based on Leader-Follower Structure
摘要
Abstract
With the improvement of the farm mechanization level,more ‘ corporate’ style farming emerged.For example,more than one harvester collaborated with each other to complete the task of harvesting operations.The new ‘corporate’ style farming created several new challenges for the agricultural machinery navigation,and the group navigation was the trend of the development of agricultural machinery navigation technology.Group collaborative navigation control is the critical technical problem to be resolved.In order to solve this problem,a collaborative navigation control method based on the leader-follower structure was proposed.Firstly,the harvester group based on master-slave structure was introduced,and a kinematics model of harvester group was established on the basis of kinematics analysis.Secondly,a formation keeping control law and a path following control law were designed on the basis of feedback linearization and sliding mode control theory.Finally,in order to verify the effectiveness of the proposed model and method,the formation experiments were carried out.When the leader and follower ran at speed of 1.0 m/s,the average error of the leader and follower were respectively 5.81 cm and 5.93 cm.The experimental results showed that the average navigation errors of the harvester group were similar to the average navigation error of a single farm machinery,and the proposed method could meet the harvester navigation demand.关键词
收获机群/跟随-领航结构/协同控制/路径跟踪/队形保持Key words
harvester group/leader-follower structure/collaborative control/path following/formation keeping分类
信息技术与安全科学引用本文复制引用
白晓平,王卓,胡静涛,高雷,熊锋..基于领航-跟随结构的联合收获机群协同导航控制方法[J].农业机械学报,2017,48(7):14-21,8.基金项目
国家重点研发计划项目(2016YFD0701903)和辽宁省科技攻关计划项目(2015104005) （2016YFD0701903）
