农业机械学报2024，Vol.55Issue(1)：386-395,425,11.DOI:10.6041/j.issn.1000-1298.2024.01.037
基于ICR的履带车辆路径跟踪与转向控制算法研究
Path Tracking and Turning Control Algorithm of Tracked Vehicle Based on ICR
摘要
Abstract
Aiming at the problems of low path tracking accuracy,many control times and large turning deviation of unilateral braking agricultural tracked vehicles in hilly and mountainous areas,the path tracking control of tracked vehicles under different load conditions was studied.Firstly,the turning kinematics of the tracked vehicle was theoretically analyzed,and the kinematics model of the tracked vehicle was established.Secondly,according to the unilateral braking turning characteristics of the tracked vehicles,an instantaneous center of rotation was proposed for instantaneous control,which can plan the optimal turning target point,according to the turning point position of the planned path and the turning instantaneous center of the tracked vehicle,and controlling the tracked vehicle to turn to the required course at the turning target point at one time.Meanwhile,the design of the turning controller was completed.Finally,the simulation and field experiments of the tracked vehicle under three different load conditions were carried out.The simulation results showed that the average error area of the tracking path and the average turning control times generated by the large angle turning control algorithm were reduced by 68.95％and 68.77％,respectively.The mean value of the mean lateral deviation of the tracking path,the mean turning control times and the mean minimum deviation of the turning point generated by the large angle turning control algorithm were reduced by 57.27％,33.93％and 62.29％,respectively.And the path tracking effect was better,which verified the effectiveness of the large angle turning control algorithm.The test results met the requirements of tracked vehicle path tracking and provided a theoretical basis and reference for the path tracking of agricultural tracked vehicles.关键词
农用履带车辆/路径跟踪/转向瞬心/转向控制Key words
agricultural tracked vehicles/path tracking/instantaneous turning center/turning control分类
农业科技引用本文复制引用
王法安,杨全合,张兆国,李安楠,徐红伟..基于ICR的履带车辆路径跟踪与转向控制算法研究[J].农业机械学报,2024,55(1):386-395,425,11.基金项目
国家重点研发计划项目(2022YFD2002004)和云南省教育厅科学研究基金项目(2023J0151) （2022YFD2002004）
