Research on path tracking control algorithm of agricultural machinery based on extended Kalman filter
The path tracking accuracy of intelligent agricultural machinery is affected by many factors such as field terrain and machinery structure,which may lead to serious consequences such as crushing the drip irrigation belt.In this paper,taking the cotton planter as the research object,a switching tracking algorithm consisting of Stanley tracking algorithm and linear quadratic optimal control(LQR)algorithm is proposed to guide the agricultural machine to enter the line quickly and maintain the straight line accuracy.In addition,in order to eliminate the static lateral error,an extended Kalman filter(EKF)for heading angle error is added.The simulation results show that the switching tracking algorithm can eliminate the static lateral error after entering the straight target line.The real vehicle test results show that when the given initial lateral error is 0.5 m and the speed is 3.6 km/h,the entry time is 6.88 s,and the overshoot is 0.041 m.When the given initial lateral error is 0 m,and the speed is 3.6 km/h,the straight-line tracking accuracy is controlled within±0.025 m,which meets the requirements of high-precision straight-line operation of actual agricultural machinery.It shows that the algorithm studied has good tracking accuracy and anti-interference ability and it is conducive to improving agricultural production efficiency.
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