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Extended Ackerman Steering Principle for the coordinated movement control of a four wheel drive agricultural mobile robot

文献类型： 外文期刊

作者： Qiu, Quan 1 ; Fan, Zhengqiang 2 ; Meng, Zhijun 1 ; Zhang, Qing 2 ; Cong, Yue 1 ; Li, Bin 1 ; Wang, Ning 3 ; Zhao, Chunjia 1 ;

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

2.Agr Univ Hebei, Coll Mech & Elect Engn, Baoding 071000, Peoples R China

3.Oklahoma State Univ, Dept Biosyst & Agr Engn, Stillwater, OK 74078 USA

4.Beijing Acad Agr & Forestry Sci, Beijing Res Ctr Informat Technol Agr, Beijing 100097, Peoples R China

关键词： Coordinated movement control; Ackerman Steering Principle; Steering-toe-in angle; Agricultural mobile robot; Four wheel drive

期刊名称：COMPUTERS AND ELECTRONICS IN AGRICULTURE （ 影响因子：5.565； 五年影响因子：5.494 ）

ISSN： 0168-1699

年卷期： 2018 年 152 卷

页码：

收录情况： SCI

摘要： This paper presented a new extended Ackerman Steering Principle (ASP) for the coordinated movement control of an agricultural mobile platform, which is four-wheel drive and has front/rear steering gears. The mobile platform was particularly developed for agricultural applications, such as soil/crop data collection and spraying/fertilizing. To fit the complex farmland operation environment, it has 4 driving wheels equipped with in-wheel motors and two steering motors connected to front/rear steering gears. When the platform is turning, its steering mechanism will lead to linear velocity deviations between inside and outside wheels. As a result, coordinated movement control will be employed to reduce the slippage. The new control strategy mainly consists of three parts: firstly, we use a steering-motor-turning-angle based model to estimate the steering angles of the front/rear wheels; secondly, we select the optimal position of the virtual turning center, by minimizing the deviations between the inside and outside wheel steering-toe-in angles; thirdly, we generate the linear velocities of inside and outside wheels following the ASP. We conducted 9 sets of comparison experimental trials on 3 types of terrain (cement floor, bare farmland, and wheat field), to verify the feasibility of the new strategy. Experimental data analysis shows: first, the proposed strategy can decrease the total motor energy consumption (the sum of inside and outside wheels' average motor current values) in all trial sets; second, the new coordinated control strategy can help the mobile platform to track a circle curve with much less slippage in all trial sets.

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