Research on Path Tracking of Unmanned Spray Based on Dual Control Strategy

Haojun Wen, Xiaodong Ma (), Chenjian Qin, Hao Chen and Huanyu Kang
Additional contact information
Haojun Wen: College of Mechanical and Electrical Engineering, Shihezi University, Shihezi 832003, China
Xiaodong Ma: College of Mechanical and Electrical Engineering, Shihezi University, Shihezi 832003, China
Chenjian Qin: College of Mechanical and Electrical Engineering, Shihezi University, Shihezi 832003, China
Hao Chen: College of Mechanical and Electrical Engineering, Shihezi University, Shihezi 832003, China
Huanyu Kang: College of Mechanical and Electrical Engineering, Shihezi University, Shihezi 832003, China

Agriculture, 2024, vol. 14, issue 4, 1-14

Abstract: The high clearance spray is a type of large and efficient agricultural machinery used for plant protection, and path tracking control is the key to ensure the efficient and safe operation of spray. Sliding mode control and other methods are commonly used abroad to track vehicles, while fuzzy control, neural networks and other methods are commonly used at home. However, domestic and foreign research on autonomous agricultural machinery is mainly focused on tractors and other machinery, while research on self-propelled spray in high clearance is less abundant. This paper takes the path tracking algorithm in the integrated navigation system of spray as the main research goal, studies the path tracking control algorithm for straight lines and turning curves that can realize the automatic driving of spray by establishing the path tracking algorithm for unmanned spray based on dual control strategies, designs the path tracking controller, including the preview model theoretical path tracking controller and variable domain fuzzy controller, and determines the preview model through the design of the preview model theoretical path tracking controller. The lateral and longitudinal errors of the model algorithm are analyzed, and the driving characteristics under the complex spray road surface are analyzed. The design of the variable domain fuzzy predictor theory path tracking controller is proposed, and the design of the road model selection controller is calculated and analyzed in detail, including the determination of the road roughness coefficient and the selection of the range of the difference between the average value of the excitation before and after sampling, which improves the performance of the spray path tracking algorithm. The experiment shows that the proposed path tracking control algorithm can meet the path tracking requirements of unmanned spray in the current road environment, and provide a reliable solution for the automatic control of high clearance spray.

Keywords: autonomous driving; path tracking; control design; path following algorithm (search for similar items in EconPapers)
JEL-codes: Q1 Q10 Q11 Q12 Q13 Q14 Q15 Q16 Q17 Q18 (search for similar items in EconPapers)
Date: 2024
References: View complete reference list from CitEc
Citations: View citations in EconPapers (2)

Downloads: (external link)
https://www.mdpi.com/2077-0472/14/4/562/pdf (application/pdf)
https://www.mdpi.com/2077-0472/14/4/562/ (text/html)

Related works:
This item may be available elsewhere in EconPapers: Search for items with the same title.

Export reference: BibTeX RIS (EndNote, ProCite, RefMan) HTML/Text

Persistent link: https://EconPapers.repec.org/RePEc:gam:jagris:v:14:y:2024:i:4:p:562-:d:1368618

Access Statistics for this article

Agriculture is currently edited by Ms. Leda Xuan

More articles in Agriculture from MDPI
Bibliographic data for series maintained by MDPI Indexing Manager ().