农机化研究2024，Vol.46Issue(8)：115-119,5.
田间轮式机器人的导航控制系统设计
Design of Navigation Control System for Field Wheeled Robot
摘要
Abstract
This paper designs a trajectory tracking control algorithm based on pre-targeting pure tracking model and fuzzy control,and an automatic steering control system based on hydraulic system and PID algorithm.In order to test the effect of the trajectory tracking control algorithm and the automatic steering control system,the agricultural machinery trajectory tracking and steering control experiments were carried out using the wheeled robot for field operation as the test platform.The results show that:in the trajectory tracking test,when the vehicle speed is 0.6m/s,the maximum lateral deviation is 0.07m,and the average lateral deviation is about 0.05m;in the steering control test,the steering angle response time does not exceed 1.5s,and the overshoot is less than 5%.关键词
轮式机器人/ROS系统/纯追踪算法/田间Key words
wheeled robot/ROS system/pure pursuit algorithm/field分类
农业科技引用本文复制引用
王全,陈学海,杨光友,李江..田间轮式机器人的导航控制系统设计[J].农机化研究,2024,46(8):115-119,5.基金项目
湖北省重点研发计划项目(2020BBA042) （2020BBA042）
国家重点研发计划项目(2017YFD0700603-03) （2017YFD0700603-03）
