智能化农业装备学报（中英文）2025，Vol.6Issue(1)：81-90,10.DOI:10.12398/j.issn.2096-7217.2025.01.008
滩涂贝类采收设备自动驾驶滑移模型研究
Research on slip model of automatic driving of shellfish harvesting equipment in mudflat
摘要
Abstract
In view of the problem of relative displacement caused by wheel slippage during the operation of autonomous wheeled clam harvesting equipment on intertidal mudflats,which affects the path tracking accuracy of the autonomous driving system,a slip prediction method based on vehicle kinematics and dynamics models was proposed.The vehicle's motion trajectory was derived according to the four-wheel chassis kinematic model,and the walking dynamics model was established by incorporating tire lateral and longitudinal force characteristics.The calculation methods for longitudinal slip and lateral slip were clarified.An autonomous driving test platform was designed,consisting of perception,planning,and control layers.The platform collected position,steering angle,and wheel speed data using an RTK-GNSS system and relevant sensors.Longitudinal and lateral slip experiments were conducted to investigate the slip characteristics of the harvesting equipment in the intertidal environment.The longitudinal slip experiment analyzed the effects of motor PWM(pulse width modulation)and load on slip ratio,and a longitudinal slip model was established through data fitting.The lateral slip experiment explored the slip characteristics under different steering angles,leading to the fitting of a lateral slip model.To simplify calculations,the slip coefficient function was expressed in the form of a Taylor polynomial.The model's accuracy was validated through experiments,with the error between the actual and predicted trajectories being less than 16%,significantly reducing slip-related interference errors in autonomous driving on mudflats.Through experimental analysis and model optimization,this study improves the accuracy of slip prediction and provides a reference for achieving high-precision navigation for clam harvesting equipment in soft ground environments.Future research could focus on real-time parameter estimation of the slip model and the dynamics modeling of ground-contact components to enhance the equipment.关键词
自动驾驶/滩涂/贝类采收/动力学模型/滑移预测Key words
autopilot/mudflats/shellfish harvesting/dynamics modeling/slippage prediction分类
农业科技引用本文复制引用
张志磊,郭飞宏,周炳洋,徐斌,吴昊,母刚..滩涂贝类采收设备自动驾驶滑移模型研究[J].智能化农业装备学报（中英文）,2025,6(1):81-90,10.基金项目
国家重点研发计划项目(2023YFD2400800) （2023YFD2400800）
辽宁省教育厅基本科研项目(LJ232410158048) （LJ232410158048）
辽宁省本科高校基本科研业务费项目(2024JBPTZ002) （2024JBPTZ002）
辽宁省科技计划联合计划(2024JH2/102600082) （2024JH2/102600082）
大连市科技创新基金(2024JJ13GX039) National Key Research and Development Program of China(2023YFD2400800) （2024JJ13GX039）
The Basic Scientific Research Program of Liaoning Provincial Education Department(LJ232410158048) （LJ232410158048）
Liaoning Provincial Undergraduate Col-leges and Universities Basic Scientific Research Operational Fees Program(2024JBPTZ002) （2024JBPTZ002）
Liaoning Provincial Science and Technology Program Joint Fund(2024JH2/102600082) （2024JH2/102600082）
Dalian Science and Technology Innovation Fund(2024JJ13GX039) （2024JJ13GX039）
