Field obstacle avoidance path planning and control method for unmanned agricultural machine

Abstract

The invention, which belongs to the technical field of agricultural unmanned driving control, provides a field obstacle avoidance path planning and control method for an unmanned agricultural machine. The method for avoiding an obstacle by an agricultural machine automatically comprises: step one, a sensor is used for obtaining agricultural machine environmental information to make an obstacle-avoiding decision; step two, a theoretical obstacle avoidance path is calculated in an off-line manner by using an improved shortest tangent method; and step three, the theoretical obstacle avoidance path obtained at the step two is optimized by using a Berier-curve-based path optimization method to obtain a practical obstacle avoidance path, a real-time curve curvature and real-time agricultural machine heading deviation and lateral deviation are obtained by using a curve tracking method; and a current front wheel steering angle is calculated by combining a state feedback controller and an adaptive controller, so that the agricultural machine moves along the practical obstacle avoidance path to avoid the obstacle. Therefore, the planned obstacle avoidance path is easy to control; the moving travel is short; and the control precision is high.

Description

technical field [0001] The invention relates to an obstacle avoidance path planning and a control method thereof, in particular to a field obstacle avoidance path planning and a control method for unmanned agricultural machinery. Background technique [0002] During automatic navigation operations, agricultural machinery mostly operates under the condition that the environment is partially unknown, so as to realize the safety protection of people and minimize the damage to crops, and at the same time maximize the production efficiency of autonomous navigation agricultural vehicles. At the same time, the agricultural machinery may encounter relatively small obstacles such as telephone poles and small rocks, and the agricultural machinery needs to automatically bypass these obstacles and quickly return to the operating route. [0003] In the prior art, for relatively small obstacles, the shortest tangent method is used to set the obstacle avoidance path. The obstacle avoidance...

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Problems solved by technology

[0006] Aiming at the defects in the prior art, the purpose of the present invention is to overcome the deficiencies in the above-mentioned prior art, solve the technical problems in the prior art that the obstacle avoidance path is difficult to control and the control accuracy is low, and provide an unmanned agricultural machinery Field obstacle avoidance path planning and control method for driving, the obstacle avoidance path in the present invention is easy to control and the walking distance is short, with high efficiency and high control precision

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