无人驾驶拖拉机路径跟踪控制方法综述

Overview of Path Tracking Control Methods for Unmanned Tractors

为加快农业现代化的发展,农机自动化、智能化是我国农业机械的发展趋势。无人驾驶拖拉机能够提高作业精度与作业效率,减少投入成本,是近年来智能农机装备领域的重要研究对象。为此,介绍了无人驾驶拖拉机的两种主要建模方法以及5种路径跟踪控制方法。同时,对该技术发展提出了建议:应进一步深入研究曲线行驶和转弯控制方法,分析不同路面的影响,综合考虑成本与控制方法鲁棒性、适应性之间的平衡关系。

In order to accelerate the development of agricultural modernization,agricultural machinery automation and in-telligence are the development trend of China's agricultural machinery.Unmanned tractors can improve work accuracy and work efficiency,reduce input costs,and are an important research object in the field of intelligent agricultural ma-chinery equipment in recent years.This article summarizes the two main modeling methods of unmanned tractors and five path tracking control methods,and puts forward the research suggestions for the future of the technology.The curve driving and turning control methods should be further studied,and the impact of different roads should be studied in depth,and comprehensively consider the balance between cost and control method robustness and overview of path track-ing control methods for unmanned tractors adaptability.