Research And Development Of Agricultural Machinery Autonomous Driving Equipment And Path Planning Algorithm

The autonomous driving of agricultural machinery is one of the key and fundamental technologies for the development of precision agriculture.At present,there are mainly the following problems with agricultural machinery autonomous driving equipment:(1)The agricultural machinery autonomous driving inspection mode is single,and the effect of curve inspection is poor.(2)The lack of path planning algorithms for autonomous driving operations on irregular plots leads to low coverage and poor adaptability of irregular plot operations.In response to the above issues,this article conducts research on agricultural machinery autonomous driving equipment.A trajectory tracking method based on the preview point tracking model was proposed,and the steering structure of agricultural machinery was optimized and modified using an electric steering wheel.The fusion of agricultural machinery positioning information,heading information,and wheel angle information was achieved,and a PID controller based on variable speed integration and output saturation limiting was designed to achieve precise control during the inspection process of agricultural machinery autonomous driving equipment and adaptability to curve inspection.After experimental analysis,the average deviation of the agricultural machinery autonomous driving equipment designed in this article during straight line inspection does not exceed 3.85 cm,and the average deviation during curve inspection does not exceed 4.20 cm.A whale optimization algorithm based path planning algorithm for irregular land parcels is proposed to meet the requirements of the full coverage path planning algorithm for irregular land parcels.The algorithm constructs the irregular parcels in a grid way,takes high coverage and low repetition rate as the search principle,and uses the length of plane travel path and turning times as the optimization criteria to establish a fitness function for path planning of irregular parcels.Through simulation and comparative experiments on various operating environments,the algorithm proposed in this article has improved the coverage and repetition rate of irregular plots compared to traditional path planning algorithms,which can to some extent reduce the number of turns and reduce the difficulty of operations.