视觉导航拖拉机自动转向控制系统研究

拖拉机的转向控制系统是实现自动驾驶的重要组成部分。为此,以铁牛654拖拉机为研究对象,进行了自动转向控制系统的研究,提出了基于简化的运动学模型模糊控制方法。将利用视觉传感器得到的方位偏差和侧向偏差作为控制器的输入,控制器可以根据输入实时输出相应的前轮转角。仿真和试验表明,该控制器有比较好的跟随性和响应性,可以较好地适应低速时拖拉机行驶的要求,为深入开展拖拉机的自动驾驶研究提供了有益尝试。

Research on Automatic Steering Control System of Tractor Based on Machine-vision

The automatic steering control system is one of the most important tasks in the success of an autonomous tractor. The automatic steering control system based on the tractor Tieniu-654 was studied. A fuzzy control method on the simple kinematics model was introduced. Direction deviation and lateral deviation, which was obtained by two visual sensors, were used as the input of the controller. The rotation angle of the front wheel could be obtained though the controller. The simulation and experiment showed that the controller had better feature in both following and responding specialties. The building of the controller had laid a solid foundation for further study on automatic driving tractor.