农机化研究2025，Vol.47Issue(6)：18-25,8.DOI:10.13427/j.issn.1003-188X.2025.06.003
基于DDPG+MPC的水稻授粉机器人路径跟踪控制
Path Tracking Control of Rice Pollination Robot Based on DDPG+MPC
摘要
Abstract
In order to improve the control accuracy of autonomous path tracking of rice pollination robot,this paper pro-posed a hybrid control algorithm based on reinforcement learning DDPG combined with model predictive control MPC.Based on the DDPG+MPC hybrid control framework,the robot state output at the next moment was predicted by obtai-ning the current state and referring to the deviation between the reference path and the current driving path.The reinforce-ment learning DDPG was used to complete the front wheel deflection angle and acceleration compensation of the original MPC control algorithm,so as to improve the driving accuracy of the path tracking and realize the high-precision autono-mous driving of the pollination robot according to the reference path.The simulation venfication results show that in the straight path,the heading deviation was controlled within 0.03°after the heading deviation was stable.In terms of average lateral error,the improved DDPG+MPC hybrid algorithm reduced the lateral error by 0.001 4 m compared with the MPC algorithm,and the tracking accuracy was improved by 5.7%.Under the turning curve path,the heading deviation was less than 0.5°.The lateral error of the DDPG+MPC hybrid control algorithm was 0.044 8 m lower than that of the MPC algorithm,and the tracking accuracy was improved by 151.9%.When the straight line entered the curve,the real-time adjustment was faster,which satisfied the high-precision path tracking control of the autonomous operation of the pollina-tion robot.关键词
杂交水稻/授粉机器人/路径跟踪/模型预测控制/强化学习Key words
hybrid rice/pollination robot/path tracking/model predictive control/reinforcement learning分类
农业工程引用本文复制引用
温佳,梁喜凤,王永维..基于DDPG+MPC的水稻授粉机器人路径跟踪控制[J].农机化研究,2025,47(6):18-25,8.基金项目
国家自然科学基金项目(31971796) （31971796）
