Real-time path planning and control method for turning of agricultural unmanned vehicle at field edge
A technology for real-time path planning and unmanned vehicles, applied in vehicle position/route/height control, two-dimensional position/course control, non-electric variable control, etc., can solve the problems of reduced accuracy, increased energy consumption, and track length Growth and other issues, to achieve the effect of reducing energy consumption, small mechanical loss, and improving accuracy
Active Publication Date: 2021-09-17
ZHEJIANG UNIV
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[0007] The purpose of the present invention is to provide a real-time path planning and control method for agricultural unmanned vehicle steering, which can effectively solve the problems of track length increase, accuracy reduction and energy consumption increase after yaw in existing route planning and control , At the same time solve the problem of frequent steering control and acceleration and deceleration control
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[0033] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the drawings in the embodiments of the present invention. Apparently, the described embodiments are only some of the embodiments of the present invention, but not all of them. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.
[0034] Such as figure 1 As shown, the track of the vehicle's head turning is: the vehicle starts from point A, turns forward to point B (end point B) with the minimum turning radius forward, and then starts to reverse until point C (end point C). Turn with the smallest turning radius in reverse. Finally, the vehicle traces the route from point C to the target point D with pure tracking control. The process from point A to point B is called the first s...
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The invention discloses a real-time path planning and control method for turning of an agricultural unmanned vehicle at field edge. The method comprises the following steps that (1) the vehicle starts to turn and equipment is initialized; (2) acquiring vehicle position and course information in real time as input information of real-time path planning; (3) generating a shortest planning route taking the current position as a starting point through the input information; (4) judging whether a parking instruction is sent out or not according to the distance between the position of the current stage of the vehicle and the real-time updated end point of the stage; (5) if a parking instruction is sent, entering the next stage; and if not, returning to the step (2), and continuing to update the route. The method can effectively solve the problems that the track length is increased, the accuracy is reduced and the energy consumption is increased after yawing of the existing turning route planning and control, and the problem that steering control and acceleration and deceleration control are frequent is solved.
Description
technical field [0001] The invention relates to the technical field of agricultural machinery automation, in particular to a real-time path planning and control method for agricultural unmanned vehicles turning to the ground. Background technique [0002] Field turning refers to the process that the agricultural vehicle successfully drives into the next crop row after driving out of the current crop. The automatic control of headland steering is one of the important components of autonomous path planning and automatic navigation of agricultural unmanned vehicles. Minimizing the time spent on headland turning and adaptively selecting the optimal headland turning trajectory are important ways to improve the efficiency of agricultural automation operations. [0003] At present, research on path planning and control of agricultural unmanned vehicle headland steering focuses on how to track the path more accurately, and how to control the vehicle to return to the planned route w...
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Login to View More IPC IPC(8): G05D1/02
CPCG05D1/0214G05D1/0278G05D1/0276
Inventor 刘羽飞俞晴邱沣清余越何勇
Owner ZHEJIANG UNIV