HEADLAND TURNING CONTROL METHOD SIMULATION OF AUTONOMOUS AGRICULTRUAL MACHINE BASED ON IMPROVED PURE PURSUIT MODEL

摘要：

According to the features of headland turning, new path planning and headland turning control algorithms for autonomous agricultural machine were presented in this paper. The turning path planning considered both the minimum turning radius and headland space was created by applying three straight lines. A path tracking algorithm based on the improved pure pursuit model was also proposed. This study used the BP neutral network to implement the dynamical look-ahead distance control for the improved pure pursuit model. Based on simplified bicycle kinematics model parameters, MATLAB/Simulink simulation results showed that the path planning algorithm were simple, occupied small headland space while still had a high tracking accuracy. The control method is feasible and practical.

关键词： automatic guidance agricultural machine headland turning path planning pure pursuit algorithm simulation

作者: Peichen Huang Xiwen Luo Zhigang Zhang

作者单位: Key Laboratory of Key Technology on Agricultural Machine and Equipment of South ChinaAgricultural University,Ministry of Education,Guangzhou 510640,P. R. China

会议类型: 国际会议

会议名称: 第三届亚洲精细农业会议暨第五届智能化农业信息技术国际会议

会议地点: 北京

会议语种:英文

页码: 1-10

在线出版日期: 2009-10-14（万方平台首次上网日期，不代表论文的发表时间）