CN106681335A - Obstacle-avoiding route planning and control method for unmanned agricultural machine driving - Google Patents
Obstacle-avoiding route planning and control method for unmanned agricultural machine driving Download PDFInfo
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- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
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Abstract
The invention provides an obstacle-avoiding route planning and control method for unmanned agricultural machine driving. A method for automatically avoiding obstacles of an agricultural machine comprises the specific steps that 1, agricultural machine information is obtained through a sensor to make an obstacle-avoiding decision; 2, an improved shortest tangent method is used for calculating a theoretical obstacle-avoiding route online; 3, a Bezier curve based route optimization method is utilized to optimize the theoretical obstacle-avoiding route in the step 2 to obtain an actual obstacle-avoiding route, a front wheel rotating angle of the agricultural machine is controlled by combining pre-viewing with PI controller, so that the agricultural machine walks along the actual obstacle-avoiding route to bypass obstacles. The obstacle-avoiding route planned by adopting the method is easy to control, a walking journey is short, and the control precision is high.
Description
Technical field
The present invention relates to a kind of automatic turn around path planning and its control method, more particularly to a kind of for agricultural machinery, nobody drives
The obstacle-avoiding route planning and its control method sailed.
Background technology
Agricultural machinery in self-navigation operation it is many it is unknown in environment division in the case of run, realization carries out safeguard protection to people
Reduce to minimum with the extent of injury to crops, while the production efficiency of performance independent navigation agricultural vehicle that again can be maximum, will
Be one it is important study a question, while agricultural machinery can be potentially encountered the relatively small barrier such as electric pole, finger stone, it is necessary to
Agricultural machinery can automatically bypass these barriers and rapidly return back to the route of operation.
In the prior art, for smaller barrier, avoidance path, most chopped collimation method shape are set using most chopped collimation method
Into avoidance path be made up of two sections of straightways and one section of arc section, straightway is tangent with arc section respectively, this avoidance path
Although simple and fast, it is difficult that control is turned and be difficult according to knuckle for the tractor with min. turning radius, if control
Agricultural machinery processed is walked according to this avoidance path, and the control accuracy of agricultural machinery is very low；In addition, control agricultural machinery is according to the avoidance road for setting
The control method of footpath walking has various, such as BUG algorithms, Artificial Potential Field Method, VFH algorithms, fuzzy logic algorithm, fuzzy neural network
Algorithm etc., the application scenarios of these algorithms are complicated operating environments, and the logic of algorithm is complicated, is applied to agricultural machinery working not
Under complicated operating environment, reaction speed is slower, and its control accuracy is reduced on the contrary；Sum it up, either path planning is still
The control method in avoidance path, control agricultural machinery is very low according to the precision that the path for setting is walked, and deviates the avoidance path of setting,
The distance for causing agricultural machinery cut-through thing to be walked is remote, from initially entering avoidance path to returning to agricultural machinery original rectilinear walking path
Time is long.
The content of the invention
For defect of the prior art, it is an object of the invention to overcome above-mentioned weak point of the prior art, solution
Certainly avoidance path is difficult in the prior art is controlled and the low technical problem of control accuracy, there is provided one kind is kept away for agricultural machinery to be unpiloted
Barrier path planning and its control method, the distance that the avoidance path in the present invention is easily controlled and walks are short, and control accuracy is high.
The object of the present invention is achieved like this：One kind is used for the unpiloted obstacle-avoiding route planning of agricultural machinery and its controlling party
Method, agricultural machinery gets around concretely comprising the following steps for barrier automatically,
Step 1：Agricultural machinery environmental information is obtained by sensor and makes avoidance decision-making；
Step 2：Go out a theoretical avoidance path using improved most chopped collimation method off-line calculation；
Step 3：Kept away using the theoretical avoidance path in the method for optimizing route Optimization Steps 2 based on Bezier curve is actual
Barrier path so that the path after optimization is more prone to control, gets up to control the front-wheel of agricultural machinery with PI controller combinations using taking aim in advance
Corner makes agricultural machinery get around barrier along the walking of actual avoidance path.
During present invention work, agricultural machinery is arranged on the environment letter around the sensor sensing agricultural machinery on agricultural machinery in the process of walking
Breath, when there is barrier in agricultural machinery front, makes avoidance decision-making, and a theoretical avoidance road is calculated using improved most chopped collimation method
Footpath, optimizes to theoretical avoidance path and obtains an actual avoidance path for being more prone to control, using preview control device and
PI controllers are combined together the front wheel angle for calculating agricultural machinery in real time, and agricultural machinery is in the process of walking by real-time adjustment agricultural machinery
Front wheel angle makes agricultural machinery be walked along the actual avoidance path of setting, so as to realize the automatic obstacle-avoiding of agricultural machinery；The present invention is by changing
Most chopped collimation method after entering calculates a theoretical avoidance path, using the method for optimizing route based on Bezier curve to theory
Avoidance path is optimized, and avoidance path is more prone to control, and agriculture is controlled by the combination of preview control device and PI controllers
The front wheel steering angle of machine makes agricultural machinery along the avoidance curved path walking for setting, and control accuracy is high；Can be applied to unpiloted agriculture
Machine is in farm work in the work of automatic obstacle-avoiding.
The reliability in theoretical avoidance path is obtained to further improve, in step 2, theoretical avoidance path is calculated specifically
To calculate the distance of the size, agricultural machinery and barrier of the characteristic circle of agricultural machinery preceding object thing, the size setting peace according to characteristic circle
Full distance, plough tool width and agricultural machinery min. turning radius according to agricultural machinery set a theoretical avoidance path.
In order that avoidance path is more prone to control, in step 2, most chopped collimation method is specifically, with the center of barrier
For characteristic circle is done in the center of circle, the radius of characteristic circle is rmin+ w/2, theoretical avoidance path is by arc section one, straightway one, arc section
2nd, straightway two and arc section three are constituted, and the straight line path that one end of arc section one is original with agricultural machinery is tangent, arc section one it is another
One end is tangent with one end of straightway one, and the other end of straightway one and one end of straightway two are tangent with arc section two respectively,
The other end of straightway two is tangent with arc section three, and arc section two is characterized a section on circle, and arc section one and arc section three are closed
It is symmetrical arranged in the center line of arc section two, agricultural machinery sequentially passes through arc section one, straightway one, arc section two, the and of straightway two
The cut-through thing of arc section three, wherein, rminIt is the min. turning radius of agricultural machinery, w is the working width of agricultural machinery, outside barrier
Radius of circle is connect less than min. turning radius.
Turned around the precision in path to further improve agricultural machinery, the radius of the arc section one is rmin, the arc section three
Radius be rmin, the starting point of arc section one is designated as H points, and the center of circle of arc section one is designated as O1Point, straightway one is original with agricultural machinery
The joining of straight line path is designated as J, and straightway one is designated as D, agricultural machinery original path and characteristic circle with the points of tangency of arc section two
Joining is designated as K and K ' respectively, and JK=w/2, the center of circle of arc section two is designated as O points, and the coordinate of O is set to（A, b）, arc section two
Central point is designated as B points, and the coordinate of J points is designated as（X1, y1）, the equation of JD can be write as：
（1-1）；
The equation of characteristic circle can be write as：
（1-2）
Pass through（1-1）With（1-2）K can be obtained, D points are the joining of JD and characteristic circle, and D point coordinates is solved with this；
Set up an office O1Coordinate be（x2,y2）, then point O1Distance to straight line JD is：
According to formula（1-3）With（1-4）Obtain O1Coordinate；Then the coordinate of H points is（x2, y1）, the coordinate of B points is（A, b+r）；
The contact of mathematical relationship is set up in this design to each line segment in constitution theory avoidance path, specifies the concrete shape of curve,
Coordinate at inflection point is obtained, facilitates optimization of the next step to theoretical avoidance path.
In order to optimize the theoretical avoidance path designed using improved most chopped collimation method in the present invention, in step 3, using base
Theoretical avoidance path in the method for optimizing route Optimization Steps 2 of Bezier curve, is specifically to set up Bezier equations,
(1) n+1, the space position vector of point is given, then the interpolation formula of each point coordinates is on parameter curve：
（2-1）
WhereinThe characteristic point of the curve is constituted,It is n Bernstein basic function：
（2-2）
By above-mentioned formula, it can be deduced that the mathematic(al) representation of three times and quadratic bezier curve, as n=3, Q (t) is more than three times
Item formula, there is four control points, and its matrix form is expressed as：
（2-3）
Work as n=2, Q (t) is quadratic polynomial, there are three control points, and matrix expression is：
（2-4）
（2）The curvature expression formula of Bezier curve is：
（2-5）
Wherein, y=f（x）The equation of curve is represented, y ' is the first derivative of curve, y " it is second dervative；
Radius of curvature is：
（2-6）；
In this design, propose that Bezier curve optimization method is optimized to theoretical avoidance path, it is specifically that curvature is discontinuous
Theoretical avoidance path optimization into the actual avoidance path of continual curvature, actual avoidance path be more prone to control.
In order to improve the controllability of Bezier curve, three bezier curve is chosen, for three bezier curve：
（2-7）
（2-8）
Wherein, X0, X1, X2, X3 are respectively the lateral coordinates at P0 points, P1 points, P2 points and P3 points, and Y0, Y1, Y2 and Y3 are respectively
Longitudinal coordinate at P0 points, P1 points, P2 points and P3；
The starting point H of P0 points correspondence arc section one（x2, y1）, the central point B of P3 points correspondence arc section two（A, b+r）, P1 points（（x2+
a）/ 2, y1）, P2 points（（x2+a）/ 2, b+r）, then the curvature radius calculation formula of the corresponding curve in physical fault path be：
（2-9）；
In this design, the inflection point on Choice Theory avoidance path is used as the optimization point in Bezier curve optimization method, optimization
Path afterwards is simpler, continual curvature, it is easy to control.
In order to improve the control accuracy of aircraft pursuit course, in step 3, theoretical front wheel angle is calculated using preview control device,
Be specifically to determine the forward sight of agricultural machinery apart from l, take on path a little to take aim at a little in advance（x0, y0）, R is forward sight apart from corresponding circle
The radius of segmental arc, the relational expression between l, R and x is：
（3-1）
Agricultural machinery is reduced to cart, the kinematics model of agricultural machinery is set up：
（3-2）
According to Ackermann steering geometrical relationship, the radius of turn and front wheel angle of agricultural machinery, the relational expression of wheelbase are：
（3-3）
Will（3-2）With（3-3）Combine and obtain the computing formula of theoretical corner and be：
（3-4）
Wherein, θ is the course deviation angle of agricultural machinery, and agricultural machinery rear shaft center is designated as point A, agricultural machinery rear shaft center A and takes aim at point P lines in advance
AP is designated as, course deviation angle is the angle between agricultural machinery course and AP, and δ is the theoretical front wheel angle of agricultural machinery, and L is the axle of agricultural machinery
Away from v is the travel speed of agricultural machinery, and the point nearest apart from agricultural machinery center is M on the curved path of setting.
In order to further improve the control accuracy of aircraft pursuit course, in step 3, compensation front-wheel is calculated using PI control methods
Corner, specifically comprises the following steps：
（301）The course deviation angle θ that position according to agricultural machinery and taking aim in advance a little calculates agricultural machinery is input into e as the error of PI（k）；
（302）Calculate current score accumulation error；
（303）PI controlled outputs compensate front wheel angle, and the computing formula for compensating front wheel angle is：
（4）
Wherein, KpIt is proportional gain, KiIt is storage gain, e（i）It is corresponding error input under i time points, when k is for total sampling
Between count, u（k）It is the output of PI controls, is specifically current compensation front wheel angle；
Before the compensation front wheel angle that is exported with PI controllers of theoretical front wheel angle that preview control device is exported is reality after being added
Wheel corner, actual front wheel corner exports give agricultural machinery model in real time, controls the front wheel angle of agricultural machinery to realize agricultural machinery automatic obstacle-avoiding；This sets
In meter, in actual motion, steering relation is not to fully meet the Ackermann steering principle in preview control device to agricultural machinery, can be deposited
In certain control error, PI control methods and preview control method are combined to eliminate the error that preview control device brings,
Further improve control accuracy.
As a further improvement on the present invention, the sensor includes position sensor, angular transducer and machine vision
Camera, the angular transducer detects the steering angle of agricultural machinery, and the position sensor obtains the positional information of agricultural machinery；The vision
Machine camera is provided with 2 and is separately positioned on the front and rear side of agricultural machinery, and visual machine camera obtains the geographical letter of agricultural machinery local environment
Breath.
Brief description of the drawings
Fig. 1 is the theoretical avoidance path locus figure in the present invention.
Fig. 2 is the performance plot one of three bezier curve in the present invention.
Fig. 3 is the performance plot two of three bezier curve in the present invention.
Fig. 4 is the actual avoidance path locus figure in the present invention.
Fig. 5 is the curvature chart in actual avoidance path in the present invention.
Fig. 6 is control block diagram of the invention.
Fig. 7 is that pre- in the present invention takes aim at algorithm keeps track schematic diagram.
Fig. 8 is the curve tracking schematic diagram in the present invention.
Fig. 9 is the analogue simulation curve tracking comparison diagram of setting curve and aircraft pursuit course in the present invention.
Figure 10 is the course deviation simulation drawing in the present invention.
Figure 11 is the lateral deviation simulation drawing in the present invention.
Figure 12 is the front wheel steering angle curve map in the present invention.
Specific embodiment
The present invention is further illustrated below in conjunction with the accompanying drawings.
One kind as shown in Fig. 1~12 is used for the unpiloted obstacle-avoiding route planning of agricultural machinery and its control method, and agricultural machinery is certainly
It is dynamic to get around concretely comprising the following steps for barrier,
Step 1：Agricultural machinery environmental information is obtained by sensor and makes avoidance decision-making；
Step 2：Go out a theoretical avoidance path using improved most chopped collimation method off-line calculation；
Step 3：Kept away using the theoretical avoidance path in the method for optimizing route Optimization Steps 2 based on Bezier curve is actual
Barrier path so that the path after optimization is more prone to control, gets up to control the front-wheel of agricultural machinery with PI controller combinations using taking aim in advance
Corner makes agricultural machinery get around barrier along the walking of actual avoidance path；
In step 1 of the invention, sensor includes position sensor, angular transducer and machine vision camera, angular transducer
The steering angle of agricultural machinery is detected, position sensor obtains the positional information of agricultural machinery；Visual machine camera is provided with 2 and is separately positioned on
The front and rear side of agricultural machinery, visual machine camera obtains the geography information of agricultural machinery local environment；
In step 2, calculate theoretical avoidance path and be in particular, calculate the size of the characteristic circle of agricultural machinery preceding object thing, agricultural machinery with
The distance of barrier, the size setting safe distance according to characteristic circle, the minimum turning half of plough tool width and agricultural machinery according to agricultural machinery
Footpath, sets a theoretical avoidance path.
In order that avoidance path is more prone to control, in step 2, most chopped collimation method is specifically, with the center of barrier
For characteristic circle is done in the center of circle, the radius of characteristic circle is rmin+ w/2, as shown in figure 1, theoretical avoidance path is by arc section one, straightway
First, arc section two, straightway two and arc section three are constituted, and the straight line path that one end of arc section one is original with agricultural machinery is tangent, circle
The other end of segmental arc one is tangent with one end of straightway one, the other end of straightway one and one end of straightway two respectively with circular arc
Section two is tangent, and the other end of straightway two is tangent with arc section three, and arc section two is characterized a section on circle, arc section one and circle
Center line of the segmental arc three on arc section two is symmetrical arranged, and agricultural machinery sequentially passes through arc section one, straightway one, arc section two, straight
Line segment two and the cut-through thing of arc section three, wherein, rminIt is the min. turning radius of agricultural machinery, w is the working width of agricultural machinery, barrier
The circumradius of thing is hindered to be less than min. turning radius；
The radius of arc section one is rmin, the radius of the arc section three is rmin, the starting point of arc section one is designated as H points, arc section
One center of circle is designated as O1Point, straightway one is designated as J, straightway one and arc section two with the joining of the original straight line path of agricultural machinery
Points of tangency be designated as D, agricultural machinery original path is designated as K and K ', JK=w/2, the center of circle of arc section two respectively with the joining of characteristic circle
O points are designated as, the coordinate of O is set to（A, b）, the central point of arc section two is designated as B points, and the coordinate of J points is designated as（X1, y1）, the side of JD
Journey can be write as：
（1-1）；
The equation of characteristic circle can be write as：
（1-2）
Pass through（1-1）With（1-2）K can be obtained, D points are the joining of JD and characteristic circle, and D point coordinates is solved with this；
Set up an office O1Coordinate be（x2,y2）, then point O1Distance to straight line JD is：
According to formula（1-3）With（1-4）Obtain O1Coordinate；Then the coordinate of H points is（x2, y1）, the coordinate of B points is（A, b+r）；
In order to optimize the theoretical avoidance path in the present invention using improved most chopped collimation method design, in step 3, using being based on
Theoretical avoidance path in the method for optimizing route Optimization Steps 2 of Bezier curve, is specifically to set up Bezier equations,
(1) n+1, the space position vector of point is given, then the interpolation formula of each point coordinates is on parameter curve：
（2-1）
WhereinThe characteristic point of the curve is constituted,It is n Bernstein basic function：
（2-2）
By above-mentioned formula, it can be deduced that the mathematic(al) representation of three times and quadratic bezier curve, as n=3, Q (t) is more than three times
Item formula, there is four control points, and its matrix form is expressed as：
（2-3）
Work as n=2, Q (t) is quadratic polynomial, there are three control points, and matrix expression is：
（2-4）
（2）The property of Bezier curve
The value of Bezier curve two-end-point is obtained by formula (2-1)：
As t=0,
（2-10）
As t=1,
（2-11）
It is to the derived function that formula (2-1) obtains Bezier curve：
（2-12）
In starting point t=0,
（2-13）
In starting point t=1,
（2-14）
Quadratic bezier curve properties of end vertex：
（2-15）
Three bezier curve properties of end vertex is：
（2-16）
The first of tangential direction at beginning and end and characteristic polygon is can be seen that from the property of analysis Bezier curve
Trend of bar while with the last item is consistent, then by planning the tangential direction of Bezier curve starting point and terminal, realize
Determination to the initial pose of vehicle and object pose；As can be seen that three bezier curve all falls in spy from Fig. 2 and Fig. 3
Levy in polygon P0P1P2P3, increased the controllability of Bezier curve；
（3）The curvature expression formula of Bezier curve is：
（2-5）
Wherein, y=f（x）The equation of curve is represented, y ' is the first derivative of curve, y " it is second dervative；
Radius of curvature is：
（2-6）；
Analyzed for more than, in order to improve the controllability of Bezier curve, the present invention chooses three bezier curve, for three times
Bezier curve：
（2-7）
（2-8）
Wherein, X0, X1, X2, X3 are respectively the lateral coordinates at P0 points, P1 points, P2 points and P3 points, and Y0, Y1, Y2 and Y3 are respectively
Longitudinal coordinate at P0 points, P1 points, P2 points and P3；
The starting point H of P0 points correspondence arc section one（x2, y1）, the central point B of P3 points correspondence arc section two（A, b+r）, P1 points（（x2+
a）/ 2, y1）, P2 points（（x2+a）/ 2, b+r）, then the curvature radius calculation formula of the corresponding curve in physical fault path be：
（2-9）；
With the actual avoidance path of three bezier curve optimum theory avoidance path formation by two in arc section two
The symmetrically arranged actual avoidance curve ρ 0 of the heart is constituted（As shown in Figure 6）；
In order to improve the control accuracy of aircraft pursuit course, in step 3, theoretical front wheel angle is calculated using preview control device, specifically
Be to determine the forward sight of agricultural machinery apart from l, take on path a little to take aim at a little in advance（x0, y0）, R is forward sight apart from corresponding arc section
Radius, the relational expression between l, R and x is：
（3-5）
By（3-5）Can obtain：
（3-1）
Agricultural machinery is reduced to cart, the kinematics model of agricultural machinery is set up：
（3-2）
According to Ackermann steering geometrical relationship, the radius of turn and front wheel angle of agricultural machinery, the relational expression of wheelbase are：
（3-3）
Will（3-2）With（3-3）Combine and obtain the computing formula of theoretical corner and be：
（3-4）
Wherein, θ is the course deviation angle of agricultural machinery, and agricultural machinery rear shaft center is designated as point A, agricultural machinery rear shaft center A and pre- point P lines of taking aim at are remembered
It is AP, course deviation angle is the angle between agricultural machinery course and AP, and δ is the theoretical front wheel angle of agricultural machinery, and L is the wheelbase of agricultural machinery, v
It is the travel speed of agricultural machinery, the point nearest apart from agricultural machinery center is M on the curved path of setting；
In step 3, compensation front wheel angle is calculated using PI control methods, specifically comprised the following steps：
（301）The course deviation angle θ that position according to agricultural machinery and taking aim in advance a little calculates agricultural machinery is input into e as the error of PI（k）；
（302）Calculate current score accumulation error；
（303）PI controlled outputs compensate front wheel angle, and the computing formula for compensating front wheel angle is：
（4）
Wherein, KpIt is proportional gain, KiIt is storage gain, e（i）It is corresponding error input under i time points, when k is for total sampling
Between count, u（k）It is the output of PI controls, is specifically current compensation front wheel angle；
Before the compensation front wheel angle that is exported with PI controllers of theoretical front wheel angle that preview control device is exported is reality after being added
Wheel corner, actual front wheel corner exports give agricultural machinery model in real time, controls the front wheel angle of agricultural machinery and makes agricultural machinery along the reality planned
Border avoidance path is walked, and realizes the automatic obstacle-avoiding of agricultural machinery.
Actual avoidance curvature of curve is emulated using matlab, such as Fig. 5 can be seen that actual avoidance curvature of curve and connect
It is continuous；Controlled for the PI proposed in the present invention using matlab softwares and preview control algorithm is emulated to setting curve, given
The original position for determining agricultural machinery is（-13,1）, initial heading angle is 0rad, and Kp is taken as 2, Ki and is taken as 0.01；The horizontal stroke of Fig. 9~Figure 12
Coordinate is the operating range of agricultural machinery, it can be seen in figure 9 that aircraft pursuit course is essentially coincided with setting curve；Can from Figure 10
To find out, course deviation is probably in 0.08rad or so；It can be seen from fig. 11 that lateral deviation is in 10cm or so；From Figure 12
As can be seen that front wheel steering angle is 1 rank inertial element, without mutation, and actually it is consistent；Analyzed more than, use the present invention
In control method carry out the path clustering that turns around of agricultural machinery, control accuracy is high, curved path walking of the agricultural machinery substantially according to setting.
During present invention work, the environmental information around visual machine camera collection agricultural machinery confirms according to ambient condition information
Whether agricultural machinery enters avoidance, if detecting agricultural machinery front when having small barrier, agricultural machinery enters avoidance navigational state, and agricultural machinery is by passing
Sensor detection obtains the positional information of agricultural machinery, calculate agricultural machinery preceding object thing the size of characteristic circle, agricultural machinery and barrier away from
From plough tool width and agricultural machinery min. turning radius according to agricultural machinery determine the size of characteristic circle to set safe distance, using changing
The theoretical avoidance path of most chopped collimation method setting entered, but because the curvature in theoretical avoidance path is discontinuous, make agricultural machinery avoidance
Control accuracy reduction, using the new actual avoidance path of Bezier curve optimization method optimum theory avoidance coordinates measurement, passes through
Preview control device obtains theoretical front wheel angle, rotation before the control error output compensation that PI controller compensation preview controls device is produced
Angle, obtains actual front wheel corner and exports front wheel angle to agriculture after theoretical front wheel steering angle is added with expected compensation steering angle
Positional information is simultaneously sent to preview control device and PI controllers by machine model, position sensor real-time detection agricultural machinery position,
By the curved path walking for controlling the front wheel angle of agricultural machinery to make agricultural machinery along setting, so that agricultural machinery gets around barrier automatically；This hair
The bright most chopped collimation method by after improvement calculates a theoretical avoidance path, uses the path optimization side based on Bezier curve
Method is optimized to theoretical avoidance path, avoidance path is more prone to control, by preview control device and the knot of PI controllers
The front wheel steering angle for closing control agricultural machinery makes agricultural machinery along the avoidance curved path walking for setting, and control accuracy is high；Can be applied to nobody
The agricultural machinery of driving is avoided in the work of small barrier automatically in farm work.
The invention is not limited in above-described embodiment, on the basis of technical scheme disclosed by the invention, the skill of this area
Art personnel are according to disclosed technology contents, it is not necessary to which performing creative labour just can make one to some of which technical characteristic
A little to replace and deform, these are replaced and deformation all falls in the scope of protection of the present invention.
Claims (9)
1. it is a kind of to be used for the unpiloted obstacle-avoiding route planning of agricultural machinery and its control method, it is characterised in that agricultural machinery gets around automatically
Barrier is concretely comprised the following steps,
Step 1：Agricultural machinery environmental information is obtained by sensor and makes avoidance decision-making；
Step 2：Go out a theoretical avoidance path using improved most chopped collimation method off-line calculation；
Step 3：Kept away using the theoretical avoidance path in the method for optimizing route Optimization Steps 2 based on Bezier curve is actual
Barrier path, gets up to control the front wheel angle of agricultural machinery agricultural machinery is walked along actual avoidance path using taking aim in advance with PI controller combinations
Get around barrier.
2. according to claim 1 for the unpiloted obstacle-avoiding route planning of agricultural machinery and its control method, its feature exists
In, in step 2, calculate theoretical avoidance path and be in particular, calculate size, agricultural machinery and the barrier of the characteristic circle of agricultural machinery preceding object thing
Hinder the distance of thing, the size setting safe distance according to characteristic circle, plough tool width and agricultural machinery min. turning radius according to agricultural machinery,
The theoretical avoidance path of setting one.
3. according to claim 2 for the unpiloted obstacle-avoiding route planning of agricultural machinery and its control method, its feature exists
In in step 2, most chopped collimation method is specifically to do characteristic circle by the center of circle of the center of barrier, and the radius of characteristic circle is rmin+
W/2, theoretical avoidance path is made up of arc section one, straightway one, arc section two, straightway two and arc section three, arc section one
One end straight line path original with agricultural machinery it is tangent, the other end of arc section one is tangent with one end of straightway one, straightway one
The other end and straightway two one end it is tangent with arc section two respectively, the other end of straightway two is tangent with arc section three, circle
Segmental arc two be characterized circle on one section, the center line of arc section one and arc section three on arc section two is symmetrical arranged, agricultural machinery according to
It is secondary by arc section one, straightway one, arc section two, straightway two and the cut-through thing of arc section three, wherein, rminIt is agricultural machinery
Min. turning radius, w is the working width of agricultural machinery, and the circumradius of barrier is less than min. turning radius.
4. according to claim 3 for the unpiloted obstacle-avoiding route planning of agricultural machinery and its control method, its feature exists
In the radius of the arc section one is rmin, the radius of the arc section three is rmin, the starting point of arc section one is designated as H points, circular arc
The center of circle of section one is designated as O1Point, straightway one is designated as J, straightway one and arc section with the joining of the original straight line path of agricultural machinery
Two points of tangency is designated as D, and agricultural machinery original path is designated as K and K ', JK=w/2, the circle of arc section two respectively with the joining of characteristic circle
The heart is designated as O points, and the coordinate of O is set to（A, b）, the central point of arc section two is designated as B points, and the coordinate of J points is designated as（X1, y1）, JD's
Equation can be write as：
（1-1）；
The equation of characteristic circle can be write as：
（1-2）
Pass through（1-1）With（1-2）K can be obtained, D points are the joining of JD and characteristic circle, and D point coordinates is solved with this；
Set up an office O1Coordinate be（x2,y2）, then point O1Distance to straight line JD is：
According to formula（1-3）With（1-4）Obtain O1Coordinate；Then the coordinate of H points is（x2, y1）, the coordinate of B points is（A, b+r）.
5. according to claim 4 for the unpiloted obstacle-avoiding route planning of agricultural machinery and its control method, its feature exists
In in step 3, using the theoretical avoidance path in the method for optimizing route Optimization Steps 2 based on Bezier curve, specifically
For, Bezier equations are set up,
(1) n+1, the space position vector of point is given, then the interpolation formula of each point coordinates is on parameter curve：
（2-1）
WhereinThe characteristic point of the curve is constituted,It is n Bernstein basic function：
（2-2）
By above-mentioned formula, it can be deduced that the mathematic(al) representation of three times and quadratic bezier curve, as n=3, Q (t) is more than three times
Item formula, there is four control points, and its matrix form is expressed as：
（2-3）
Work as n=2, Q (t) is quadratic polynomial, there are three control points, and matrix expression is：
（2-4）
（2）The curvature expression formula of Bezier curve is：
（2-5）
Wherein, y=f（x）The equation of curve is represented, y ' is the first derivative of curve, y " it is second dervative；
Radius of curvature is：
（2-6）.
6. according to claim 5 for the unpiloted obstacle-avoiding route planning of agricultural machinery and its control method, its feature exists
In selection three bezier curve, for three bezier curve：
（2-7）
（2-8）
Wherein, X0, X1, X2, X3 are respectively the lateral coordinates at P0 points, P1 points, P2 points and P3 points, and Y0, Y1, Y2 and Y3 are respectively
Longitudinal coordinate at P0 points, P1 points, P2 points and P3；
The starting point H of P0 points correspondence arc section one（x2, y1）, the central point B of P3 points correspondence arc section two（A, b+r）, P1 points（（x2+
a）/ 2, y1）, P2 points（（x2+a）/ 2, b+r）, then the curvature radius calculation formula of the corresponding curve in physical fault path be：
（2-9）.
7. according to claim 6 for the unpiloted obstacle-avoiding route planning of agricultural machinery and its control method, its feature exists
In, in step 3, theoretical front wheel angle is calculated using preview control device, be specifically the forward sight for determining agricultural machinery apart from l, take road
On footpath is a little to take aim at a little in advance（x0, y0）, R is radius of the forward sight apart from corresponding arc section, and the relational expression between l, R and x is：
（3-1）
Agricultural machinery is reduced to cart, the kinematics model of agricultural machinery is set up：
（3-2）
According to Ackermann steering geometrical relationship, the radius of turn and front wheel angle of agricultural machinery, the relational expression of wheelbase are：
（3-3）
Will（3-2）With（3-3）Combine and obtain the computing formula of theoretical corner and be：
（3-4）
Wherein, θ is the course deviation angle of agricultural machinery, and agricultural machinery rear shaft center is designated as point A, agricultural machinery rear shaft center A and pre- point P lines of taking aim at are remembered
It is AP, course deviation angle is the angle between agricultural machinery course and AP, and δ is the theoretical front wheel angle of agricultural machinery, and L is the wheelbase of agricultural machinery, v
It is the travel speed of agricultural machinery, the point nearest apart from agricultural machinery center is M on the curved path of setting.
8. according to claim 7 for the unpiloted obstacle-avoiding route planning of agricultural machinery and its control method, its feature exists
In, in step 3, compensation front wheel angle is calculated using PI control methods, specifically comprise the following steps：
（301）Position according to agricultural machinery and the course deviation angle θ of the agricultural machinery for a little obtaining is taken aim in advance be input into e as the error of PI（k）；
（302）Calculate current score accumulation error；
（303）PI controlled outputs compensate front wheel angle, and the computing formula for compensating front wheel angle is：
（4）
Wherein, KpIt is proportional gain, KiIt is storage gain, e（i）Corresponding error input under i time points, k is total sampling time point
Number, u（k）It is the output of PI controls, is specifically current compensation front wheel angle；
Before the compensation front wheel angle that is exported with PI controllers of theoretical front wheel angle that preview control device is exported is reality after being added
Wheel corner, actual front wheel corner exports give agricultural machinery model in real time, controls the front wheel angle of agricultural machinery to realize agricultural machinery automatic obstacle-avoiding.
9. according to any one of claim 1~8 for the unpiloted obstacle-avoiding route planning of agricultural machinery and its control method,
Characterized in that, the sensor includes position sensor, angular transducer and machine vision camera, the angular transducer inspection
The steering angle of agricultural machinery is surveyed, the position sensor obtains the positional information of agricultural machinery；The visual machine camera is provided with 2 and difference
The front and rear side of agricultural machinery is arranged on, visual machine camera obtains the geography information of agricultural machinery local environment.
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Application publication date: 20170517 |