Research On Path Planning Method Of Agricultural Machinery Based On Date Fusion

As a highly automated modern agricultural equipment,intelligent agricultural machinery navigation control automation is its most distinctive feature,and the research on the path planning method of agricultural machinery in the automatic navigation technology of agricultural machinery is the key to realizing “smart agriculture” and “precision agriculture”.Based on data fusion technology,this paper conducts research on path planning method of agricultural machinery.The main research works completed are as follows:(1)Consult a large number of reference materials and analyze the important significance of the research on agricultural machinery path planning methods and the current research status at home and abroad.For the analysis of the current mainstream global positioning system,the relative coordinate transformation equation between the WGS-84 coordinate system,the plane coordinate system,the carrier coordinate system and the radar coordinate system are established.The integrated navigation algorithm is used to fuse the navigation data of DGPS and IMU to obtain the real-time position and attitude information of agricultural machinery.(2)Establish kinematics and dynamic models of agricultural machinery,and control agricultural machinery through model predictive control technology.The way of walking in the field of agricultural machinery is studied,the working path of round-trip full-coverage parallel linear operations is planned,and the consumption cost of agricultural machinery field operations is analyzed.On this basis,the direction along the longest boundary of the working plot is used as the optimal working direction.A non-tangential round fish tail type turn trajectory that adds cubic Bezier curve to the traditional fishtail turn trajectory is designed to adapt to different sowing distances and improve the farming efficiency of the land.(3)Design a PID controller to control the longitudinal driving speed of agricultural machinery to ensure that agricultural machinery can travel at a uniform speed.A pure tracking algorithm is constructed to control the horizontal error of agricultural machinery,and a BP neural network is used to dynamically adjust the forward sight distance,and determine the appropriate forward sight distance according to different working conditions to improve the path tracking accuracy of the pure tracking algorithm.(4)Research on the information collection of obstacles in the working environment.Hierarchical division and risk assessment of obstacles are carried out,and on this basis,obstacle avoidance strategies for agricultural machinery under different working conditions are proposed.In view of static obstacles that hinder agricultural machinery operations,an improved PSO-PIO path planning algorithm is designed for adaptive obstacle avoidance path planning for agricultural machinery.(5)In order to verify the tracking accuracy of the improved pure tracking algorithm designed in this research on preset trajectories,an experimental platform was built and an experiment on tracking real vehicles along the linear path of agricultural machinery was designed.The experimental results show that the improved pure tracking algorithm has a good tracking effect on preset trajectories.