农业工程2025，Vol.15Issue(3)：26-33,8.DOI:10.19998/j.cnki.2095-1795.202503305
宽幅机器人作业平台最优路径跟踪控制系统研究
Optimal path tracking control system for wide-span robot operation platform
摘要
Abstract
An optimal path tracking control system was proposed to improve accuracy of wide-span robot operation platform in field and reduce lateral deviation of running caused by uneven soil quality and asymmetric geometric shape of agricultural machinery.System ad-opted unscented kalman filter(UKF),integrated information of Beidou satellite positioning and machine vision,and observed vehicle running state parameters.In addition,a nonlinear model predictive control(NMPC)strategy was introduced to establish a vehicle kin-ematic model,which was compatible with adaptive model predictive control(AMPC).Simulink simulation results showed that NMPC has faster response and overshoot speed for path tracking system.关键词
宽幅机器人作业平台/多传感器数据融合/无迹卡尔曼滤波/路径跟踪/模型预测控制Key words
wide-span robot operation platform/multi-sensor data fusion/unscented kalman filter/path tracking/model predictive control分类
农业科技引用本文复制引用
李蓉萱,闫洪峰,李法镰,赵传波,李璐,刘成李,邓育荣..宽幅机器人作业平台最优路径跟踪控制系统研究[J].农业工程,2025,15(3):26-33,8.基金项目
中国机械工业集团有限公司科研专项(ZDZX2022-1) （ZDZX2022-1）
