农业工程2026，Vol.16Issue(2)：9-16,8.DOI:10.19998/j.cnki.2095-1795.202508040
丘陵山区农业机械路径跟踪算法优化
Agricultural machinery path tracking algorithm optimization in hilly and mountainous areas
摘要
Abstract
To address problems of overshoot during path tracking control and unstable driving of agricultural machinery caused by poly-gonal trajectory curvature mutation in hilly and mountainous areas,an arc switching method for continuous curvature change was pro-posed.Based on six path distributions,optimal path switching positions were determined using broken lines'intersection points and the minimum turning radius of agricultural machinery.Mathematical models were established to determine circular arc trajectories.On this basis,a model predictive control(MPC)system model based on Matlab/Simulink-Carsim was built.Verification was carried out using different polygonal angles(60°,90°,120° and 150°)and different forward speeds(0.5 and 1.0 m/s).Verification results showed that when agricultural machinery moved forward at speeds of 0.5 and 1.0 m/s,compared with traditional method before optimization,optimized method reduced average lateral deviation by 36.79%and 39.46%,respectively,and reduced average heading angle deviation by 35.91%and 30.43%,respectively.In addition,both the maximum lateral deviation and heading angle deviation reduced.Path tracking accuracy and driving stability of agricultural machinery were significantly improved,better meeting needs for polygonal paths tracking.关键词
路径曲率突变/路径跟踪/MPC预测模型/联合仿真/丘陵山区/农业机械化Key words
trajectory curvature mutation/path tracking/MPC prediction model/joint simulation/hilly and mountainous areas/agricultural mechanization分类
农业科技引用本文复制引用
符德龙,吴长兵,王克敏,管彦银,张富贵..丘陵山区农业机械路径跟踪算法优化[J].农业工程,2026,16(2):9-16,8.基金项目
贵州省研究生教育创新计划项目(2024YJSKYJJ102) （2024YJSKYJJ102）
中国烟草总公司贵州省公司科技项目(中烟黔科[2024]1号) （中烟黔科[2024]1号）
贵州省山地智能农机全省重点实验室建设项目(黔科合平台ZSYS[2025]013) （黔科合平台ZSYS[2025]013）
