开发用于使用双GPS天线的自动收割机路径生成和算法
Kyuho Lee1, Hyohyuk Choi1, Junghun Kim1
1Autonomous Vehicle Intelligent Robotics, Industrial Convergence Interdepartmental Program, Hongik University, Seoul 04066, Republic of Korea.
Sensors (Basel, Switzerland)
|July 11, 2023
概括
这项研究开发了机器人收割机的自动驾驶系统,在现场测试中实现了76.7%的效率. 该系统展示了农业自动化准确的路径跟踪.
科学领域:
- 农业工程 农业工程
- 机器人技术 机器人技术 机器人技术
- 自主系统 自主系统
背景情况:
- 农业领域面临着可以通过自动驾驶技术解决的挑战.
- 与轮式拖拉机相比,在东亚普遍存在的轨道收割机具有独特的转向动力学.
- 现有的自主系统可能无法针对轨道式农业机械的特定控制特性进行优化.
研究的目的:
- 为机器人收割机开发和验证基于双GPS天线的自动驾驶系统.
- 创建和测试适用于农业中跟踪车辆的新型路径生成和跟踪算法.
- 与手动操作相比,评估自主系统的效率和准确性.
主要方法:
- 开发一套双GPS天线系统,用于精确定位.
- 实现一个α-转类型的工作路径生成算法.
- 设计和应用专门用于跟踪的机械收割机的路径跟踪算法.
- 在收获和非收获场景中使用实际的机床收割机进行实验验证.
主要成果:
- 自动驾驶实现了较低的误差:0.052 m (工作) 和0.207 m (转动) 没有收获;0.038 m (工作) 和0.195 m (转动) 在收获期间.
- 与手动驾驶相比,自动驾驶系统与收获工作的效率提高了76.7%.
- 在自动驾驶实验中观察到减少非工作区域和驾驶时间.
结论:
- 开发的双GPS自动驾驶系统和路径跟踪算法对机器人收割机有效.
- 该系统显著提高了农业收获任务的运营效率.
- 这项技术为提高农业自动化和生产率提供了可行的解决方案.
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