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Design of autonomous tractor traveling along the contour-line on the slope land

坡地等高线自主拖拉机设计

基本信息

批准号：
11460116
负责人：
TORISU Ryo
金额：
$ 3.84万
依托单位：
Iwate University
依托单位国家：
日本
项目类别：
Grant-in-Aid for Scientific Research (B)
财政年份：
1999
资助国家：
日本
起止时间：
1999 至 2001
项目状态：
已结题

项目摘要

An automatic tractor guidance system for the contour-line travel on sloped terrain has been developed. To actualize this system, Five procedures were done. (1) First, a neural network (NN) vehicle model was proposed to obtain relations between the steerage and behavior of tractors on sloped terrain. (2) Second, a navigation planner for contour run is constructed by the use of NN based vehicle model. (3) Third, an optimal control theory is applied to the design of a steering controller. As two variables : lateral displacement and heading angle are important for contour line tracking control, a quadratic-form cost function of the two are minimized by genetic algorithm. (4) The fourth procedure involves using an installed steering mechanism, sensors and a Total Station, in carrying out autopilot tractor tests on contour line travel. The overall performance of the developed navigation system for the contour line tracking tractor-like robot was successful. (5) Finally, to navigate the tractor along the rectangular path on sloped terrain, Compound control procedures have been developed. For this purpose the following steps were made : 1) a coordinate transformation system was designed to determine the tractor position with respect to the rectangular path ; 2) a steering controller was also designed where feedback control method was applied for the rectilinear motions along the contour lines, uphill and downhill directions ; and a feedforward control method was developed for the quarter turns of the rectangular path ; 3) finally the feedback and feedforward control methods were compounded to guide the tractor along the rectangular path ; 4) field tests on automatic tractor guidance system were successfully conducted on sloped terrain.

研制了一种拖拉机在斜坡地形上等高线行驶的自动导引系统。为了实现这一系统，我们做了五个步骤。(1)首先，提出了一个神经网络（NN）车辆模型，以获得驾驶性能和拖拉机在斜坡上的行为之间的关系。(2)其次，利用基于神经网络的车辆模型，构造了一个轮廓行驶的导航规划器。(3)第三，最优控制理论应用于转向控制器的设计。作为两个变量：横向位移和航向角是轮廓线跟踪控制的重要指标，采用遗传算法优化了这两个指标的二次型代价函数。(4)第四个程序涉及使用安装的转向机构，传感器和全站仪，在等高线行驶上进行自动驾驶拖拉机测试。所开发的轮廓线跟踪拖拉机式机器人导航系统的整体性能是成功的。(5)最后，为了使拖拉机在斜坡地形上沿矩形路径行驶，开发了复合控制程序。为此，设计了一个坐标变换系统，确定拖拉机相对于矩形路径的位置; 2）设计了转向控制器，其中对沿轮廓线、上坡和下坡方向的沿着直线运动采用反馈控制方法; 3）采用反馈和前馈相结合的控制方法，实现了拖拉机沿着矩形路径的自动导引; 4）成功地进行了拖拉机自动导引系统在斜坡地形上的田间试验。