Research And Implementation Of Path Tracking Algorithm Of Rice Transplanter With Autonomous Walking

The autonomous walking of rice transplanter can not only alleviate the fatigue problem of the driver during the traditional rice transplanting operation,but also rffectively improve the production efficiency.In this paper,the path tracking algorithm of rice transplanter autonomous walking is researched;with long Kobota SPU-68 c type high-speed rice transplanter as the research platform,the path is tracked with the method of pure tracking model combined fuzzy control considered of rice field actual situation.According to the verification by path tracking test,forward-looking distance self-tuning is realized in the case of speed change.As a result,the robustness and adaptability of rice transplanter for rice paddies complex environment are improved.The research of this paper mainly includes the following parts:1)Based on the status quote at inland and abroad about rice transplanter path tracking algorithm,the models and common control algorithms are analyzed.The kinematics model and actuator of rice transplanter are deeply analyzed in this paper.2)Through the analysis of the advantages and disadvantages of different algorithms,a fuzzy control algorithm based on pure tracking model is proposed considering the influence of lateral deviation,deviation of course and speed change on tracking accuracy.The forward distance can be adjusted independently in the case of different transverse deviation,course deviation and speed with the method of fuzzy control.The simulation of path tracking are carried out using the method of single variable experiment with the Matlab/Simulink software.The experiment contains three cases,variable acceleration with the fixed lateral deviation and the heading error,variable heading error with the fixed lateral deviation and acceleration,variable lateral deviation with the fixed heading error and acceleration.It is showed that the front distance can be achieved self-tuning.3)The rice field experiment prototype platform is build of actual situation,including the determination of overall scheme,path planning and execution mechanism design.Among them,the actuators design includes the design of steering subsystem,implant handle actuator module and the main transmission handle module.4)Experimental research on path tracing are carried out,including actuator response test,flat surface path tracking test.It is showed that the response speed of the actuator is verified to meet the control requirements of rice transplanter in the process of autonomous walking,the average error of path tracking is 4.03 cm.