| Issue |
MATEC Web Conf.
Volume 220, 2018
2018 The 2nd International Conference on Mechanical, System and Control Engineering (ICMSC 2018)
|
|
|---|---|---|
| Article Number | 04004 | |
| Number of page(s) | 5 | |
| Section | Mechanical Engineering and Measurement Technology | |
| DOI | https://doi.org/10.1051/matecconf/201822004004 | |
| Published online | 29 October 2018 | |
A Path Tracking Method for Autonomous Rice Drill Seeder in Paddy Fields
School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, China
For the purpose of overcoming the obstacles in application of autonomous rice drill seeder in paddy fields, a path tracking algorithm with high accuracy used for steering control during straight traveling in uneven muddy paddy fields is introduced in this paper. Combining lateral deviation and heading angle deviation as feedback, a nonlinear steering control model is developed in the algorithm. To avoid the position error caused by incline, the influence brought by the roll angle and the pitch angle of the vehicle on position coordinates are taken into account when the vehicle is on a slant. The experiments carried out in arable paddy fields show that the mean absolute lateral deviation of the algorithm was less than 2.9 centimeters and the heading angle deviation was less than 0.03°. The path tracking algorithm is able to meet the required precision for autonomous rice drill seeder in paddy fields of China.
© The Authors, published by EDP Sciences, 2018
This is an Open Access article distributed under the terms of the Creative Commons Attribution License (http://creativecommons.org/licenses/by/4.0), which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
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