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Research on virtual Ackerman steering model based navigation system for tracked vehicles

文献类型： 外文期刊

作者： Zhang, Linhuan 1 ; Zhang, Ruirui 1 ; Li, Longlong 1 ; Ding, ChenChen 1 ; Zhang, Danzhu 1 ; Chen, Liping 1 ;

作者机构： 1.Beijing Acad Agr & Forestry Sci, Beijing Res Ctr Intelligent Equipment Agr, Beijing 100097, Peoples R China

2.Natl Res Ctr Intelligent Equipment Agr, Beijing 100097, Peoples R China

3.Natl Ctr Int Res Agr Aerial Applicat Technol, Beijing 100097, Peoples R China

关键词： Orchard vehicle; Autonomous driving; Path smoothing; Path tracking

期刊名称：COMPUTERS AND ELECTRONICS IN AGRICULTURE （ 影响因子：6.757； 五年影响因子：6.817 ）

ISSN： 0168-1699

年卷期： 2022 年 192 卷

页码：

收录情况： SCI

摘要： A state feedback navigation control system based on a virtual Ackerman steering model is proposed in this study to address the problems of the poor smoothness of steering control and low control accuracy of tracked vehicles. The proposed system uses a real-time dynamic positioning global navigation satellite system. Furthermore, it incorporates cubic spline interpolation to smoothen a predetermined path. In addition, a path-tracking control method based on pole assignment, virtual Ackerman steering control model of a single-cylinder diesel-enginepowered tracked vehicle, and forward-steering proportional control method based on the principle of pulsewidth modulation were designed. Simulations and field experiments were performed to test the application of the proposed system. The experimental results indicated that the absolute average and standard deviation of the path waypoint interval decreased from 0.227 and 0.348 m to 0.018 and 0.015 m, respectively. In 5- and 6-mradius-circular and straight-line path-tracking simulations, the average error in path tracking was less than 0.002 m. For path tracking in an orchard environment, the average tracking error and standard error deviation between tree rows were 0.051 and 0.084 m, respectively. These results indicate that the proposed control system enable significantly stable control of single-cylinder diesel-engine-powered tracked vehicles, and its control accuracy meets the operational objectives of tracked vehicles.

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