Simulation of Autonomous Agricultural Machine Based on Improved Pure Pursuit Model - Computer and Computing Technologies in Agriculture III Access content directly
Conference Papers Year : 2010

Simulation of Autonomous Agricultural Machine Based on Improved Pure Pursuit Model

Abstract

According to the features of headland turning, new path planning and headland turning control algorithms for autonomous agricultural machine were presented in this paper. The turning path planning considered both the minimum turning radius and headland space was created by applying three straight lines. A path tracking algorithm based on the improved pure pursuit model was also proposed. This study used the BP neutral network to implement the dynamical look-ahead distance control for the improved pure pursuit model. Based on simplified bicycle kinematics model parameters, MATLAB/Simulink simulation results showed that the path planning algorithm were simple, occupied small headland space while still had a high tracking accuracy. The control method is feasible and practical.
Fichier principal
Vignette du fichier
0414--Peichen_Huang.pdf (174.96 Ko) Télécharger le fichier
Origin : Files produced by the author(s)
Loading...

Dates and versions

hal-01062115 , version 1 (09-09-2014)

Licence

Attribution

Identifiers

Cite

Peichen Huang, Xiwen Luo, Zhigang Zhang. Simulation of Autonomous Agricultural Machine Based on Improved Pure Pursuit Model. Third IFIP TC 12 International Conference on Computer and Computing Technologies in Agriculture III (CCTA), Oct 2009, Beijing, China. pp.176-184, ⟨10.1007/978-3-642-12220-0_27⟩. ⟨hal-01062115⟩
286 View
1560 Download

Altmetric

Share

Gmail Facebook X LinkedIn More