The Study Of Following System In Crawler-type Transporter Based On UWB

Crawler-type transporter is an important transport machine in agricultural industry.Di rected by practical issues in enterprises,crawler-type transporter has been redesigned intelligently and unmanned theories and methods have been studied as well,which has realistic engineering significance.The main results of the thesis can be summarized as follows :(1)Unmanned manipulation system has been designed on account of analyzing the properties of manipulation system and executive body of crawler-type transporter.Multifunctional and modular executive bodies,which realizes unmanned manipulation,are designed based on stepping motor.(2)A unmanned manipulation text platform is established taking advantage of unmanned manipulation system and feasibility of designed system is verified experimentally.The out of step of the step-motor used in the unmanned manipulation system is solved so that reliability and stability of system have been improved.(3)Trilateral distance measurement based Error scanning algorithm in one direction is proposed based on trilateral distance measurement after researching node location method of intelligent following system.location accuracy and stability of the proposed algorithm in different node areas are analyzed simulatedly by MATLAB.Results compared with least square method demonstrate that proposed algorithm is more accuracy and stable.The effect of error scanning frequency on location accuracy is studied and it has found that it is more accurate as error scanning frequency increases.The feasibility of error scanning algorithm in one direction is validated experimentally in an outdoor environment.(4)Following system of crawler-type transporter is designed on account of analyzing Path features of line moving and steering of unmanned crawler-type transporter.The pure following model is established based on UWB location technology and experiments has demonstrated the accuracy and stability of the proposed pure following model.