Path planning of autonomous agricultural machineries in complex rural road

文献类型： 外文期刊

第一作者： Cui, Jinbo

作者： Cui, Jinbo;Zhang, Xianfeng;Feng, Wei;Li, Ping;Wu, Yu;Fan, Xinmiao

作者机构：

期刊名称：JOURNAL OF ENGINEERING-JOE （ 影响因子：0.7； 五年影响因子：0.6 ）

ISSN：

年卷期： 2020 年 2020 卷 6 期

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收录情况： SCI

摘要： This study mainly investigates the path planning and collision avoidance problem of autonomous agricultural machineries in the complex rural road. First, the grid model is used to build the global map of machineries and the particle swarm optimisation algorithm is used to search the global path. A non-linear dynamic inertia weight is introduced to avoid the local lock-up problem of traditional particle swarm optimisation. Then the artificial potential energy method for addressing the local collision problem is used, which is the sum of the attraction of the target point and the repulsion of the obstacles and the road boundary force. To solve the problem of the slip and roll of autonomous machinery caused by complex roads, a machinery dynamic model considering road curvature and topographic inclination is established, and the model predictive control algorithm is used to track the planned path. The simulation results show that proposed method can make the autonomous agricultural machinery driving safely and smoothly.

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