一种纯追踪模型改进算法

Improved Algorithm of Pure Pursuit Model

为了提高农业机械自动导航控制系统的精度,根据纯追踪模型和农业机械运动学模型的特点,提出了一种纯追踪模型改进算法。在重点分析纯追踪模型算法误差原理的基础上,指出纯追踪模型误差主要来源于车体的航向角和转向角。采用该算法可以校正车体的航向角和转向角,减小车体跟踪规划路径时的横向误差。根据算法推导和电控液压阀性能等因素得出前视距离L≥3·v·T才能取得较好的跟踪效果。Matlab仿真结果表明,该算法比纯追踪算法的精度提高了30.24%,最大误差减小了4 cm,标准差也有所减小。

In order to improve the accuracy of agricultural machinery automatic navigation control system, according to the characteristics of pure tracking model and agricultural machinery kinematics model, an improved algorithm of pure pursuit model was proposed. On the basis of analytical focus tracking error model algorithm principle, it pointed out that pure heading angle tracking model error came mainly from the heading angle and the steering angle. The algorithm could calibrate the vehicle＇s heading angle and steering angle, and could reduce the lateral error when the vehicle tracking path planning. According to the algorithm derivation and electronically controlled hydraulic valve performance and other factors, visibility distance should be L t〉 3 ＊ v ＊ T to achieve better tracking results. Matlab simulation results show that the algorithm is more accurate than pure tracking algorithm by improving 30.24%, and the maximum error is reduced by 4cm, also the standard deviation decreases.