Research on automatic following system of inter-row transporter in hilly and mountainous orchards
Aiming at the problems of low degree of mechanical intelligence and low efficiency of picking and transportation process in hilly and mountainous areas,this paper designs an automatic following method based on self-developed crawler transporter,adopts the positioning principle based on AOA(angle of incidence),and uses UWB dual base station positioning technology to receive the electronic tag signal and obtain its direction angle.And by extending the Kalman filter method,the accurate position of the electronic tag is calculated to realize the precise positioning and following of the tag by the transport vehicle.In the simulation analysis in MATLAB,it is concluded that the average distance error of the extended Kalman filter-AOA positioning method is 0.21 m and the average angle error is 1.45°.The results show that the average distance error is less than 30 cm under the two working conditions of flat land and hilly orchard,which proves that the proposed method meets the requirements of automatic following.
tracked transporterautomatic followingdual base station positioning technologyangle of incidence directionextended Kalman filtering
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