Agricultural machine path tracking method and device based on LOS guidance, medium and program

By combining the LOS guidance method and the adaptive fuzzy sliding mode control algorithm with an extended state observer and online forward sight distance adjustment, the problems of path deviation and sideslip of agricultural machinery in complex farmland environments have been solved, thereby improving the stability and accuracy of agricultural machinery path tracking.

CN119987372BActive Publication Date: 2025-11-07JIANGSU UNIV
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Patent Information

Application Number
CN202510137048.5
Authority / Receiving Office
CN · China
Patent Type
Patents(China)
Current Assignee / Owner
Filing Date
2025-02-07
Publication Date
2025-11-07
Estimated Expiration
2045-02-07

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Abstract

The application provides a LOS guidance agricultural machine path tracking method, device, medium and program, wherein the path tracking problem is converted into a tracking problem of a desired heading angle by using the LOS guidance method, so as to solve the desired heading angle; and then the front wheel steering angle of the agricultural machine is solved based on a sliding mode control algorithm to control the agricultural machine. The agricultural machine path tracking method has strong robustness and fast response characteristics of the sliding mode control, and can ensure that the whole control system can stably operate in the case that there is uncertainty and disturbance in the control system, and solve the unknown disturbance problem of the system caused by the side slip of the agricultural machine.
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Citation Information

Patent Citations

  • Agricultural machine path tracking method based on LOS theory

    CN113359710A

  • Sliding-mode unmanned ship path tracking control system and method based on improved LOS

    CN116974278A