A real-time path planning and control method for headland steering of agricultural unmanned vehicles

A technology for real-time path planning and unmanned vehicles, applied in vehicle position/route/height control, two-dimensional position/course control, control/regulation system, 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, improving accuracy, and reducing mechanical loss

Active Publication Date: 2022-06-21
ZHEJIANG UNIV
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Problems solved by technology

[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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  • A real-time path planning and control method for headland steering of agricultural unmanned vehicles
  • A real-time path planning and control method for headland steering of agricultural unmanned vehicles
  • A real-time path planning and control method for headland steering of agricultural unmanned vehicles

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Embodiment Construction

[0033] The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, but not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0034] like figure 1 As shown, the track of the vehicle head turning is: the vehicle starts from point A, turns forward to point B (end point B) with the minimum forward turning radius, and then starts to reverse until point C (end point C), the vehicle still remains when reversing Turn with the minimum turning radius for reversing. Finally, from point C, the vehicle traces the route in pure tracking control and reaches the target point D. The process from p...

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Abstract

The invention discloses a real-time path planning and control method for agricultural unmanned vehicles turning to the ground, which comprises the following steps: (1) the vehicle starts to turn and initializes equipment; Input information; (3) generate the shortest planned route with the current position as the starting point by inputting information; (4) judge whether to issue a parking instruction according to the distance between the position of the current stage of the vehicle and the end point of the real-time update of this stage; (5) If a parking command is issued, enter the next stage; if a reverse command is not issued, then return to step (2) to continue updating the route. The invention can effectively solve the problems of track length increase, accuracy reduction and energy consumption increase after yaw in the existing turning route planning and control, and simultaneously solve the problems of frequent steering control and acceleration and deceleration control.

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 headland steering of an agricultural unmanned vehicle. Background technique [0002] Steering in the field 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 in headland turning and adaptively selecting the optimal headland turning trajectory are important ways to improve the efficiency of agricultural automation. [0003] At present, the related research on the path planning and control of headland steering of agricultural unmanned vehicles focuses on how to track the path more accurately, and how to control the vehicle to return to t...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/02
CPCG05D1/0214G05D1/0278G05D1/0276G05D2201/0201
Inventor 刘羽飞俞晴邱沣清余越何勇
Owner ZHEJIANG UNIV
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