首页|On Dual-Mode Driving Control Method for a Novel Unmanned Tractor With High Safety and Reliability

On Dual-Mode Driving Control Method for a Novel Unmanned Tractor With High Safety and Reliability

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Due to the non-standardization and complexity of the farmland environment, it is always a huge challenge for trac-tors to achieve fully autonomy (work at Self-driving mode) all the time in agricultural industry. Whereas, when tractors work in the Tele-driving (or Remote driving) mode, the operators are prone to fatigue because they need to concentrate for long periods of time. In response to these, a dual-mode control strategy was pro-posed to integrate the advantages of both approaches, i.e., by combing Self-driving at most of the time with Tele-driving under special (complex and hazardous) conditions through switching control method. First, the state switcher was proposed, which is used for smooth switching the driving modes according to differ-ent working states of a tractor. Then, the state switching control law and the corresponding subsystem tracking controllers were designed. Finally, the effectiveness and superiority of the dual-mode control method were evaluated via actual experimental testing of a tractor whose results show that the proposed control method can switch smoothly, stably, and efficiently between the two driving modes automatically. The average control accuracy has been improved by 20％ and 15％ respectively, compared to the conventional Tele-driving control and Self-driving control with low-precision navigation. In conclusion, the proposed dual-mode control method can not only satisfy the operation in the complex and changeable farmland environment, but also free drivers from high-intensity and fatiguing work. This provides a perfect application solution and theoretical support for the intelli-gentization of unmanned farm agricultural machinery with high safety and reliability.

Dual-mode controlsafety and reliabilityself-driv-ing (SD)tele-driving (TD)unmanned tractor.

Wei Lu、Jiacheng Li、Huanhuan Qin、Lei Shu、Aiguo Song

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College of Artificial Intelligence,Nanjing Agricultural University,Nanjing 210031,China

Nanjing Agricultural University,Nanjing 210031,China

School of Instrument Science and Engineering,Southeast University,Nanjing 210096,China

Independent Innovation Project of Agricultural Science and Technology of Jiangsu ProvinceModern Agricultural Machinery Equipment and Technology Demonstration and Promotion Project of Jiangsu ProvinceNational Foreign Experts Program of ChinaScience and Technology Project of Suzhou City

CX203068NJ2021-37G2021145010LSNG2020039

2023

自动化学报(英文版)
中国自动化学会,中国科学院自动化研究所,中国科技出版传媒股份有限公司

自动化学报(英文版)

CSTPCDCSCD北大核心EI
ISSN：2329-9266
年,卷(期)：2023.10(1)
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