基于GPS和陀螺仪的水稻插秧机自动导航设计(10)

基于GPS和陀螺仪的水稻插秧机自动导航设计

232Y.Nagasaka et al./Computers and Electronics in Agriculture 43(2004)223–234

D e v i a t i o n (m )

Y a w a n g l e (r a d i a n )

S t e e r i n g a n g l e 5

45

0.10

Travel distance(m)

(r a d i a n )

Fig.10.The steering angle,the yaw angle and deviation in operation.

path.In this case,the turning circle is large,so it is possible to turn without braking.It is necessary to improve and to better evaluate the turn control algorithms.Doing this might make it possible to reduce the backup distance and to save turning time.

Fig.10shows the steering angle,the yaw angle and the deviation for the third path of the automated rice transplanting operation.Fig.11shows those parameters for traveling on concrete.In Fig.10,the steering angle ranges from ?0.08to 0.04.The yaw angle ranges from ?0.07to 0.The deviation ranges from ?0.07to 0.08m.In Fig.11,the steering angle,the yaw angle and the deviation are almost constant.In Fig.10,the steering angle is 0between 25and 45m from the starting point,even though the yaw angle is shifted by ?0.04and the deviation is shifted by 0.04m.This is due to insuf?cient accuracy even though the FOG was set using the calculated result by Eq.(5).In paddy ?elds,because of ?imsy ground and variable terrain conditions,sideslip sometimes occurs during the calculation of the yaw angle offset.In this study,the steering control parameters were obtained experimentally.The authors thought that it would be dif?cult to estimate the location and direction of the vehicle by relying only from calculation of vehicle dynamics,since soil conditions are not constant and

5

45

D e v i a t i o n (m )

Y a w a n g l e (r a d i a n )

S t e e r i n g a n g l e Travel distance(m)

(r a d i a n )

0.10

-0.10.10

-0.1

0.10-0.1

Fig.11.The steering angle,the yaw angle and deviation on concrete ground.

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