为实现旋耕机快速准确完成路径跟踪,设计了一种自适应切换的路径跟踪算法。将路径跟踪分为初始阶段、直线阶段和转弯阶段。针对初始阶段和转弯阶段存在较大跟踪偏差,分别以有效作业距离和位姿偏差为基础,构建适应度函数,通过粒子群优化(PSO)算法实时获得纯追踪模型中的前视距离。在MATLAB R2021/Simulink搭建路径跟踪模型,设置3组不同初始状态的仿真实验。仿真试验得出:在初始阶段,稳定距离均值为3.735 m
Li Jinyang,Shang Zhijian,Li Runfeng,Cui Bingbo.Adaptive Sliding Mode Path Tracking Control of Unmanned Rice Transplanter[J].Agriculture,2022.
Beijing Institute of Technology, Beijing, 100081 China,Beijing Institute of Technology, Beijing, 100081 China,Beijing Institute of Technology, Beijing, 100081 China.Trajectory Planning of the Unmanned Aerial Vehicles with Adaptive Convex Optimization Method * ⁎ This work was supported in part by the National Natural Science Foundation of China under Grants 61573061.[J].IFAC PapersOnLine,2019.