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当前位置: 首页 > 文章 > 农用车辆路径跟踪预瞄控制研究——基于免疫模糊PID算法和视觉导航 农机化研究 2020 (11) 251-254+263
Position: Home > Articles > Research on Preview Control of Route Tracking for Agricultural Vehicles Based on Immune Fuzzy PID Algorithms and Visual Navigation Journal of Agricultural Mechanization Research 2020 (11) 251-254+263

农用车辆路径跟踪预瞄控制研究——基于免疫模糊PID算法和视觉导航

作  者：
吴东林;张玉华
单  位：
关键词：
农用车辆;免疫模糊;PID算法;视觉导航;跟踪预瞄;路径规划
摘  要：
在无人驾驶农用车辆过程中,由于作业环境的复杂性,往往会遇到一些突发状况,如急转弯或者突然出现障碍物等,目前的视觉导航技术一般都是获取路径信息后直接进行反馈调节,在遇到突发状况时难以有效的工作。为此,将跟踪预瞄加反馈控制器引入到了无人驾驶农用车辆自动导航系和控制系统中,并使用免疫模糊PID算法对控制系统进行优化,以提高控制的效率、精度及自动化程度。为了验证该方法的可靠性,模拟农用车辆的作业环境,对控制算法的精度和效率进行了验证。仿真结果表明:采用免疫模糊PID算法具有较高的控制精度,且运算效率高,如将其使用在农用车辆自动导航和控制系统中,对于提高导航的精度和智能化程度具有重要作用。
译  名：
Research on Preview Control of Route Tracking for Agricultural Vehicles Based on Immune Fuzzy PID Algorithms and Visual Navigation
作  者：
Wu Donglin;Zhang Yuhua;Department of Information Engineering, Luohe Vocational College of Food;
关键词：
agricultural vehicles;;immune blurring;;PID algorithm;;visual navigation;;tracking preview;;path planning
摘  要：
In the process of driving an unmanned agricultural vehicle, due to the complexity of the working environment, it often encounters some unexpected situations, such as sharp turns or sudden obstacles, etc. The current visual navigation technology is generally to obtain path information and directly adjust the feedback. It is difficult to work effectively in case of unexpected situations. Above on it, it introduced tracking preview and feedback controller into the automatic navigation system and control system of unmanned agricultural vehicles, and used the immune fuzzy PID algorithm to optimize the control system in order to improve the control efficiency, accuracy and automation degree. In order to verify the reliability of the method and simulate the working environment of agricultural vehicles, it verified the accuracy and efficiency of the control algorithm. The simulation results show that the immune fuzzy PID algorithm has high control accuracy and high operational efficiency. If it is used in the automatic navigation and control system of agricultural vehicles, it will be of great importance to improve the accuracy and intelligence of navigation.

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