拖拉机方向平行作业转弯路径规划研究

Research on Turning Path of Parallel Operation of Tractor

拖拉机田间作业时,不同田地的地头环境存在差异,为了提高无人驾驶拖拉机在不同田地的适应能力,解决无人驾驶拖拉机在有限的转弯空间内,以尽量少的前进后退次数完成符合作业幅宽要求的掉头问题。以后轮驱动前轮导向的拖拉机为研究对象,依据阿克曼转角几何原理,通过对拖拉机车身几何关系的分析建立运动方程。考虑转弯空间限制和作业幅宽要求,以前进、后退交替次数和作业幅宽误差为评判基准,基于Matlab编写了包括搜寻和寻优的转弯路径算法。可以规划出拖拉机地头转弯路径,作业幅宽误差可以保证在合理范围内,结果表明:建立的运动方程和算法可行。

When the tractor was working in the field,there is a difference in the ground head environment of different fields.In order to improve the adaptability of unmanned tractor in different fields. Aiming at solving the problem is meeting the requirement of the operation with as few times as possible of forward and backward in a finite space. Think of a tractor whose rear wheel is responsible for driving and front wheel is responsible for guiding as a research object.According to Angle geometry of Ackman,the motion equation was established by analyzing the geometrical relation of the tractor body. Consider turn space limit and working width requirement. Think of the number of alternation times and the width of the assignment as the evaluation benchmark. Based on Matlab,I wrote a path algorithm of turning. The planning of the turning path of the tractor was carried out. The operation width error can be guaranteed within a reasonable range. The results show that the equation of motion and algorithm are feasible.