农业自动引导车的路径模糊控制技术研究

刘雪兰 田宏伟

摘要：自动引导车作为解放劳动力的自动化运输装备，虽然暂时还不能用来做载人的交通工具，但在工业上已经具有很广泛的应用，可以提高农业生产效率。提出农业自动引导车的路径模糊控制技术研究。首先，进行农业自动引导车进行运动建模，然后对农业自动引导车的路径模糊控制技术进行优化。设计视觉导航控制系统，确定路径模糊控制的跟踪论域，然后根据跟踪论域设定模糊控制规则，最后进行路径跟踪器的优化。设计测试实验将农业自动引导车的路径模糊控制技术与传统技术相比较，分别得出两种技术控制农业自动引导车路径后，跟踪路径和实验路径的误差，利用研究技术的农业自动引导车对于车辆转弯时候产生的偏差的稳定时间为0.8～1.2 s之间，按照实验参数设定的車辆行驶速度（v=1.2 m/s）进行计算，可以抵消所产生的较大偏差，模糊控制技术的平均绝对误差和最大绝对误差都比传统方法的误差更小。该农业自动引导车的路径模糊控制技术研究更具推广价值。

关键词：农业自动引导车;路径偏差;模糊控制;路径规划;路径跟踪

中图分类号：S232.3             文献标志码：A        文章编号：1009-9492（2021）12-0139-04

Path Fuzzy Control Technology of Agricultural Automatic Guided Vehicle

Liu Xuelan 1，Tian Hongwei 2

（1. School of Agricultural Information， Jiangsu Vocational College of Agriculture and Animal Husbandry Science and Technology， Taizhou，Jiangsu 225300， China;2. School of Applied Technology， Suzhou University， Kunshan， Jiangsu 215325， China）

Abstract： As an automatic transportation equipment to liberate the labor force， although it can not be used as a manned vehicle for the time being， it has been widely used in industry and can improve the efficiency of agricultural production. The path fuzzy control technology of agricultural automatic guided vehicle was proposed. Firstly， the motion model of agricultural automatic guide vehicle was established， and then the path fuzzy control technology of agricultural automatic guide vehicle was optimized. The visual navigation control system was designed to determine the tracking domain of path fuzzy control， then the fuzzy control rules were set according to the tracking domain， and finally the path tracker were optimized. A test experiment was designed to compare the path fuzzy control technology of the agricultural automatic guide vehicle with the traditional technology. After the two technologies control the path of the agricultural automatic guide vehicle， the errors of the tracking path and the experimental path were obtained respectively. The stability time of the agricultural automatic guide vehicle using the research technology for the deviation when the vehicle turns is between 0.8～1.2 s. The calculation according to the vehicle speed （v=1.2 m/s） was set by the experimental parameters， which could offset the large deviation. The average absolute error and maximum absolute error of fuzzy control technology are smaller than those of traditional methods. The research on the path fuzzy control technology of the agricultural automatic guidance vehicle has more popularization value.

Key words： agricultural automatic guided vehicle; path deviation; fuzzy control; route plan; path tracking

0 引言

自动引导车指的是可以按照设定好的路线自动前进的运输车辆。车辆的动力来源一般是电或太阳能，很少有汽油或柴油驱动的。例如生产线到仓库送货工作[1]，利用自动引导车就节省了很多人力。现代化农业的大部分工作已经实现了机器代替人工，但是农机驾驶需要在田地里不断地调整驾驶方向才能满足种植要求。……