| Issue |
MATEC Web Conf.
Volume 309, 2020
2019 International Conference on Computer Science Communication and Network Security (CSCNS2019)
|
|
|---|---|---|
| Article Number | 04001 | |
| Number of page(s) | 12 | |
| Section | System Design and Optimization | |
| DOI | https://doi.org/10.1051/matecconf/202030904001 | |
| Published online | 04 March 2020 | |
Design of control system for driverless tractor
China Liaoning Shenyang Aerospace University,
* Corresponding author: 851434033@qq.com
This paper uses Tianjin TieNiu crawler tractor as the experimental platform to design an unmanned agricultural machinery control system based on RTK-GPS (Differential GPS Technology). The article expounds the overall design of the control system and proposes a path tracking control algorithm. Simulation and experimental results show that the control algorithm can complete the path tracking requirements of unmanned agricultural machinery. The system can control the unmanned agricultural machinery to follow a predetermined route. The speed is 0.55m/s, the maximum error of linear path tracking of agricultural machinery is 4.09cm, the average error is 2.20cm, the maximum error of large diameter circular path tracking is 20.67cm, the average error is 8.34cm, and the maximum error of continuous small diameter turning path tracking is 23.14cm, the average error is 7.38cm, both meet the operational requirements.
Key words: Unmanned agricultural machinery / path tracking / RTK-GPS
© The Authors, published by EDP Sciences, 2020
This is an Open Access article distributed under the terms of the Creative Commons Attribution License 4.0, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
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