农机化研究2024，Vol.46Issue(3)：52-56,5.
一种稻田自主播种机的路径跟踪方法的研究
Design and Motion Simulation of Pneumatic Device for Picking up Ground Jujube
摘要
Abstract
In order to overcome the obstacles in the application of autonomous rice planters in paddy fields,this study based on a high-precision path tracking algorithm,combined with lateral deviation and heading angle deviation as feed-back,established a nonlinear steering control model for muddy unevenness.In order to avoid the position error caused by inclination,the steering control when driving in a straight line in the paddy field is used for path tracking,and the influ-ence of the roll angle and pitch angle on the position coordinates when the vehicle is inclined is considered.Field tests show that the average absolute lateral deviation of the algorithm is less than 2.9 cm and the heading angle deviation is less than 0.03°,which can reduce the lateral deviation to a short distance of less than 0.5 meters,and the absolute value of more than 95%of the measured lateral deviations is less than 0.01 m.The path tracking algorithm can meet the preci-sion and agronomic requirements of my country's paddy field autonomous rice planter.关键词
播种机/自动导航/路径规划/跟踪/水稻Key words
seeder/automatic navigation/path planning/tracking/rice分类
农业科技引用本文复制引用
梁超,王洪珍,鲍小沾,张琪..一种稻田自主播种机的路径跟踪方法的研究[J].农机化研究,2024,46(3):52-56,5.基金项目
江苏省教育厅高等学校哲学社会科学研究基金项目(2021SJB0527) （2021SJB0527）
