带农具拖拉机地头转弯最佳路径设计

Optimal Turning Trajectory Design for Tractor-implement at Turn-row

拖拉机在进行田间作业时,其自动行驶控制主要包含轨道设计和沿着所给轨道行驶的追踪控制两个方面。本研究采用最优控制理论,设计了带农具拖拉机利用前进挡工作时进行地头转弯的最佳路径。程序运行结果表明,其计算时间短,能够保证拖拉机自动行驶控制时的实时控制。

When tractor-implement working in the field, the control of automobile automatic running reVOlVeS trajectory design and tracking along the trajectory. In the paper, optimal control was used for the optimal trajectory of tractor-implement in forward gear at turn-row. The calculation time was short that can achieve real-time control of autonomous tractor. The results showed that calculation was prompt, which could meet the needs of automobile automatic running.