Reference trajectory planning under constraints and path tracking using linear time-varying model predictive control for agricultural machines

被引：57

作者：

Plessen, Mogens M. Graf ^{[1
]}

Bemporad, Alberto ^{[1
]}

机构：

[1] IMT Sch Adv Studies Lucca, Piazza S Francesco 19, I-55100 Lucca, Italy

来源：

BIOSYSTEMS ENGINEERING | 2017年 / 153卷

关键词：

Autonomous navigation; Reference trajectory planning; Linear time-varying model; predictive control; AUTOMATIC GUIDANCE; CURVATURE; VEHICLES; SYSTEM;

D O I：

10.1016/j.biosystemseng.2016.10.019

中图分类号：

S2 [农业工程];

学科分类号：

0828 ;

摘要：

A method for the control of autonomously and slowly moving agricultural machinery is presented. Special emphasis is on offline reference trajectory generation tailored for high precision closed-loop tracking within agricultural fields using linear time-varying model predictive control. When optimisation is carried out, high-level logistical processing can result in edgy reference paths for field coverage. Subsequent trajectory smoothing can consider specific actuator rate constraints and field geometry. The latter step is the subject of this paper. Focussing on forward motion only, the role of non-convexly shaped field geometry, repressed area minimisation and spraying gap avoidance is analysed. Three design methods for generating smooth reference trajectories are discussed: circle segments, generalised elementary paths, and bi-elementary paths. (c) 2016 IAgrE. Published by Elsevier Ltd. All rights reserved.

引用

页码：28 / 41

页数：14

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