Path planning and control method for the unmanned driving of agricultural machine

Abstract

The invention belongs to the agricultural driving control technical field and relates to a path planning and control method for the unmanned driving of an agricultural machine. The method includes the following steps that: agricultural machine environmental information is obtained through a sensor, so that a U-turn or obstacle avoidance decision is made; if an obstacle avoidance decision is made, an obstacle avoidance path trajectory is planned, an improved shortest tangent method is adopted to calculate a theoretical obstacle avoidance path, and the theoretical obstacle avoidance path is optimized through using a Bezier curve-based path optimization method; if a U-turn decision is made, a U-turn path trajectory is planned, the operation mode of the agricultural machine is inputted, and a U-turn path is selected according to the actual operation mode of the agricultural machine; and in the advancing process of the agricultural machine, the agricultural machine obtains the position information of the agricultural machine through the sensor, a curve tracking method is adopted to obtain the curvature of a curve and the navigation deviation and horizontal deviation of the agricultural machine in real time, and a state feedback controller and an adaptive controller are used in combination to calculate the steering angle of the current front wheel of the machine, so that the steering angle of the agricultural machine can be controlled to realize automatic U-turn or obstacle avoidance. The path planning and control method for the unmanned driving of the agricultural machine of the invention has the advantages of high control precision and strong adaptability.

Description

technical field [0001] The invention relates to a path planning and a control method thereof, in particular to a path planning and a control method for unmanned driving of agricultural machinery. Background technique [0002] During automatic navigation, agricultural machinery mostly operates in an unknown environment. It will be an important task to realize the safety protection of people and minimize the damage to crops, while at the same time maximizing the production efficiency of autonomous navigation agricultural vehicles. At the same time, when the agricultural machinery may encounter relatively small obstacles such as utility poles and small stones or approach the ground, the agricultural machinery needs to automatically make an obstacle avoidance or U-turn decision. [0003] When performing obstacle avoidance, in the prior art, the shortest tangent method is used to set the obstacle avoidance path for relatively small obstacles. The obstacle avoidance path formed by...

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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 control precision is low and the kinematic model parameters of the agricultural machinery cannot be obtained in real time, and provide a For the path planning and control method of unmanned agricultural machinery, the invention can obtain the kinematic parameters of the agricultural machinery in real time, with high control precision, easy control of the planned path, and wide application range

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