| Agriculture is the lifeblood of the national economy,the level of agricultural modernization is an important indicator of a country's comprehensive national strength.With the "Twelfth Five-Year Plan" to the development of new and efficient agricultural machinery and equipment requirements,focusing on how to reduce human resources investment,improve efficiency and reduce costs,this paper presents a crawler-style agricultural mobile robot autonomous follow the program,combined agricultural operations environment,a self-following control system based on GPS system and AHRS system is studied to realize that a farm driver can control multiple agricultural machines at the same time to complete the same or different job requirements,providing the research foundation for the following work of the tracked agricultural machinery in the future.In this paper,two kinds of crawler mobile robots are modified by themselves,and the test platform of autonomous control system is built.The feasibility of the scheme is studied deeply.The main research contents are as follows:(1)Completed the overall design of the system.Firstly,a kind of autonomous follower control system based on GPS system and AHRS system is proposed by studying the environment of agricultural machinery and comparing different autonomous followers.(2)Theoretical analysis of autonomous following control system.The GPS navigation and positioning system,the basic principle of attitude course reference system,the main error and attitude algorithm are discussed.Finally,analyzes the influence of agricultural machinery operating environment on GPS navigation and positioning,and designs the navigation and positioning correction system by lever arm effect.(3)Research on autonomous follower algorithms.Firstly,the path planning of farm machinery operation is carried out,and the kinematics model of tracked mobile robot is established.Secondly,constructing a pure tracking model by comparing different path following algorithms.Finally,an adaptive forward tracking algorithm based on ANFIS is designed and simulated by Matlab/Simulink.The simulation results show that the designed fuzzy neural controller can effectively meet the adaptive change of the forward distance,the whole algorithm can quickly and effectively correct the transverse deviation and heading deviation of the crawler agricultural mobile robot,and realize the quick follow of the driving trajectory of the guide vehicle.(4)Completed the independent control system to follow the test platform to build.Based on two crawler mobile robots,the hardware architecture of the self-following test platform was established,and the hardware selection and design of the subsystems of the crawler-type mobile robot were carried out.And then through the Keil MDK5 programming,the use of modular programming ideas to complete the independent control system to follow the software design.(5)Completed the independent follow the control system experimental study.Firstly,the GPS module receiving test and the AHRS system measurement test are carried out.secondly,based on the autonomous control system,the straight path follower test and the ground turning path follow the test were designed.The test results show that the autonomous control system has been initially equipped with real-time,stable ability to follow. |
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