Autonomous Navigation System based on GPS for Agricultural Vehicles

文献类型： 外文期刊

第一作者： Zhou, Jianjun

作者： Zhou, Jianjun;Wang, Xiu;Wang, Xiaofang;Wang, Xiaofang;Liu, Gang;Li, Su

作者机构：

关键词： PID control;fuzzy control;autonomous navigation;GPS

期刊名称：ADVANCED TECHNOLOGIES IN MANUFACTURING, ENGINEERING AND MATERIALS, PTS 1-3

ISSN： 1022-6680

年卷期： 2013 年 774-776 卷

页码：

收录情况： SCI

摘要： The development of a fuzzy navigation controller for wheel type agricultural vehicles with mechanism steering system was presented. The fuzzy controller was designed based on heading angle error and cross track error. The incremental PID control method was used for front wheels turning control. Simulation was done based on two wheels vehicle model. Automatic navigation control system was also developed, which was made up of the upper computer and the lower controller part. The upper computer was a flat industrial computer, and the lower controller was developed by ARM7. The experiments were done in the Xiaotangshan National Demonstration Base for Precision Agriculture. The cross track error of line track using this system was less than 0.12m, and the average cross track error was 0.04m.

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