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当前位置: 首页 > 文章 > 基于SVR逆向模型的拖拉机导航纯追踪控制方法 农业机械学报 2016,47 (1) 29-36
Position: Home > Articles > Pure Pursuit Control Method Based on SVR Inverse-model for Tractor Navigation Transactions of the Chinese Society for Agricultural Machinery 2016,47 (1) 29-36

基于SVR逆向模型的拖拉机导航纯追踪控制方法

作  者：
张闻宇;丁幼春;王雪玲;张幸;蔡翔;廖庆喜
单  位：
华中农业大学工学院
关键词：
拖拉机;导航;逆向模型;支持向量回归;纯追踪模型
摘  要：
针对行驶过程中轮胎侧滑量、路面性质等不确定性因素导致传统拖拉机二轮运动学模型难以准确描述拖拉机运动轨迹的问题,提出了一种基于SVR(Support vector regression)逆向模型的拖拉机导航纯追踪控制方法。采用粒度支持向量回归(Granular support vector regression,GSVR)方法建立了拖拉机前进航向的逆向模型,实时获得实际转弯曲率与运动学理论转弯曲率的函数关系,逆向模型对纯追踪导航模型输出进行,校正提高了纯追踪导航控制方法的适应性和动态性能。拖拉机导航系统的路径追踪路面试验结果表明:当行驶距离大于125 m、行驶速度为1.2 m/s时,直线追踪最大横向偏差小于0.061 4 m,较常规纯追踪模型导航方法具有更好的直线追踪性能;田间试验结果表明:该导航控制方法适用于2BFQ-6型油菜精量联合直播机自动对行作业。
译  名：
Pure Pursuit Control Method Based on SVR Inverse-model for Tractor Navigation
作  者：
Zhang Wenyu;Ding Youchun;Wang Xueling;Zhang Xing;Cai Xiang;Liao Qingxi;College of Engineering,Huazhong Agricultural University;
关键词：
tractor;;navigation;;inverse-model;;support vector regression;;pure pursuit model
摘  要：
Considering the fact that uncertain tire sliding and uncertain pavement lead to trajectory of tractor could not be accurately described by kinematic model,a pure pursuit control method based on SVR inverse-model was proposed for agricultural machine navigation. This paper analyzed and determined the main structure and technical parameters of the method. The inverse-model of forward heading in tractor was established by using the method of granular support vector regression,and the corresponding relation function of kinematic theoretical curvature and actual curvature was obtained. The error of the output of the pure pursuit navigation model was corrected by inverse-model,thus the adaptability and dynamic performance of pure pursuit control method were improved. The path tracking experiments carried out on navigation system of the tractor and the pavement experiment results showed that the maximum of linear tracing pitch yaw roll error was less than 0. 061 4 m,when the speed of agricultural machinery was 1. 2 m / s and path length was longer than 125 m. Compared with the method of conventional pure pursuit navigation model,the pure pursuit control method based on SVR inverse-model has better linear racing performance. Field experiment results concluded that the maximum lateral deviation was 0. 088 7 m,when the running speed of the tractor was 0. 5 m / s,and the proposed controller significantly improved precision of field experiment. Based on the path tracking experiments and field experiments results,the navigation control method could be applied to automatic row-controlled operation of 2BFQ-6 type direct-seeding combined dual purpose planter for rapeseed.

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