Research On The Path Planning Of Transplanter Based On GPS Navigation

With the continuous development of science and technology,mechanical automation has gradually entered the public view.Our country is the main producer of grain,grain production can not be separated from the machinery,agricultural machinery automation is an inevitable trend of development.The automatic navigation technology is a hot issue in the realization of agricultural machinery automation,and the path planning control algorithm is the core of the automatic navigation technology.In this paper,the research of automatic navigation path planning for transplanter mainly includes two parts: one is the research of navigation control algorithm,the other is the research of control algorithm for path planning.The precise performance of navigation control algorithm ensures the effectiveness and accuracy of vehicle tracking in real time,and it is also a prerequisite for vehicles to run according to the planning path.The research on the path planning control algorithm can not only reduce the labor intensity of the workers,but also improve the efficiency of the transplanter.In this paper,through the analysis of navigation control algorithm and path planning control algorithm,according to the different operation situation of rice transplanter in the field.The main contents of the study are as follows:(1)Improve the navigation control algorithm.Through the analysis of domestic and foreign research on the navigation control algorithm,the PID control algorithm and Fuzzy control algorithm are combined to form a new navigation control algorithm Fuzzy-PID control algorithm,and simulate the algorithm in the Matlab/Simulink environment,and finally proves that the navigation control algorithm of the theoretical correctness and rationality.(2)Planning the operation path of rice transplanter.This paper focuses on the analysis of rice transplanter turns on the way,and expect to be planning a wide area coverage,low cost of operation path,finally the geometry method of different working mode on the same plots and plots of different shapes on working path planning.(3)The development of navigation path planning control system.The software platform of this project is selected by Microsoft Corp Window CE system and touchable industrial tablet computer.Under the environment of Microsoft Visual Studio 2008,we use C++ language to develop the navigation path planning control system software.(4)The automatic navigation path planning experiment of rice transplanter in the cement ground and in the field.Through the experiment to collect the navigation control algorithm and the path planning control algorithm to obtain the data information,analyze the collected data and get the advantages and disadvantages of navigation effect,and provide reference for subsequent research.Through the analysis of the test results,the automatic navigation path planning control system can basically meet the requirements of rice transplanter.