A Study on the Speed Decision Control of Agricultural Vehicles in a Collaborative Multi-Machine Operation Scenario

Guangfei Xu, Jiwei Feng, Quanjin Wang, Dongxin Xu, Jingbin Sun, Meizhou Chen () and Jian Wu ()
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Guangfei Xu: School of Mechanical and Automotive Engineering, Liaocheng University, Liaocheng 252000, China
Jiwei Feng: School of Mechanical and Automotive Engineering, Liaocheng University, Liaocheng 252000, China
Quanjin Wang: School of Mechanical and Automotive Engineering, Liaocheng University, Liaocheng 252000, China
Dongxin Xu: School of Mechanical and Automotive Engineering, Liaocheng University, Liaocheng 252000, China
Jingbin Sun: School of Mechanical and Automotive Engineering, Liaocheng University, Liaocheng 252000, China
Meizhou Chen: College of Agricultural Engineering and Food Science, Shandong University of Technology, Zibo 255000, China
Jian Wu: School of Mechanical and Automotive Engineering, Liaocheng University, Liaocheng 252000, China

Sustainability, 2025, vol. 17, issue 10, 1-22

Abstract: The driving speed of autonomous agricultural vehicles is influenced by surrounding cooperative vehicles during cooperative operations, leading to challenges in simultaneously optimizing operational efficiency, energy consumption, safety, and driving smoothness. This bottleneck hinders the development of autonomous cooperative systems. To address this, we propose a hierarchical speed decision control framework. The speed decision layer employs a maximum entropy-constrained proximal policy optimization (DMEPPO) reinforcement learning method, incorporating operational efficiency, energy consumption, safety, and smoothness as reward metrics to determine the optimal speed target. The speed control layer utilizes a Linear Matrix Inequality (LMI)-based robust control method for precise speed tracking. The experimental results demonstrate that the proposed DMEPPO achieved convergence after 2000 iterations and better learning performance, while the LMI-based controller achieved robust and responsive tracking. This architecture provides a theoretical foundation for speed decision control in agricultural vehicle cooperation scenarios. By considering aspects of speed decision-making control such as energy conservation, good solutions can be provided for the sustainable development of agriculture.

Keywords: cooperative operation; maximum entropy-constrained; speed decision-making; robust control; sustainable development (search for similar items in EconPapers)
JEL-codes: O13 Q Q0 Q2 Q3 Q5 Q56 (search for similar items in EconPapers)
Date: 2025
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