Design And Experiment Of Motion Control System For Dryland Autonomous Mobile Platform Based On GNSS

Autonomous mobile platform is the basis of agricultural robot movement.Through the real-time pose provided by navigation perception system,it can realize autonomous movement and provide reliable mobile carrier for agricultural robot operation parts.The effect of agricultural robot in the field depends on the accuracy of the mobile platform in the process of path tracking.In this paper,the design and experiment of the motion control system of dryland autonomous mobile platform based on GNSS are carried out.The main research contents are as follows:(1)The design and construction of mobile platform.Determine the overall scheme design of the dryland autonomous mobile platform,including the research on the steering mode of the mobile platform,the construction of the mobile test platform,the design of the control system and the selection of the core electronic components,and on this basis,complete the production of the experimental prototype of the autonomous mobile platform,and build the hardware circuit of the control system of the dryland autonomous mobile platform.(2)Path tracking control algorithm design.This paper analyzes and studies the principle of the current dryland autonomous mobile platform for path tracking in the field,and introduces the principle and process of this path tracking through the establishment of motion model and the design of algorithm.(3)Design and experiment of motion control system for autonomous mobile platform.The motion control system of dryland autonomous mobile platform is designed,which integrates RTK-GNSS global navigation system,IMU inertial attitude sensor and STM32 core controller.The algorithm optimization and program design are completed,and the field path autonomous mobile tracking experiment is carried out.The test results show that: in the case of good weather conditions,the average tracking error of the mobile platform is 0.043 m when tracking the path at the speed of0.8m/s,the maximum tracking error in the process of autonomous steering is 0.237 m,and the average error in the process of straight path tracking is less than 0.026 m.The motion control system can realize the platform’s autonomous movement in dryland.