基于GPS和陀螺仪的水稻插秧机自动导航设计(9)

基于GPS和陀螺仪的水稻插秧机自动导航设计

Y.Nagasaka et al./Computers and Electronics in Agriculture 43(2004)223–234231

Fig.8.The path of the automated rice transplanting operation.

Table 2

Summary of line-following control

Path 1

Path 2Path 3Path 4Path 5(a)Includes entire operating path Path width (m)

0.3480.1530.3020.1940.195Lateral position from the desired path,mean (m)?0.2420.018?0.0150.031?0.098Standard deviation (m)0.0590.0400.0840.0450.029Lateral position RMS 0.2420.0410.0700.0420.098Heading error,mean (rad)

0.0220

?0.04330.0131?0.04770.0290(b)Not including the ?rst 2m after starting operation Path width (m)0.1660.1490.2200.1560.136Lateral position from the desired path,mean(m)?0.2550.0220.0210.025?0.095Standard deviation (m)0.0370.0380.0530.0410.026Lateral position RMS 0.2550.0410.0490.0360.095Heading error,mean (rad)0.0251

?0.0332

0.0044

?0.0421

0.0185

2m after starting operation the transplanter was not close enough to each desired operating path.Fig.9shows the path of the rice transplanter traveling on concrete.In Figs.8and 9,Although the turning radius of the vehicle at the headland was around 2m and it was easy to get close to the new desired path after turning,the direction of the vehicle before starting operation was not close enough to the desired direction.In Fig.8,when the vehicle went backward,it traveled along the turning path.This result was not obtained on concrete.It was thought that the vehicle traveled along its wheel track and did not get close enough to the desired path at the beginning of the operation.One way in which we solved this problem was to move the position of the limit switch and increase the force on the brake pedals,giving a smaller turning circle and making it easy to point the vehicle in the desired direction.Another way is to have the vehicle enter every other or every second operation

Distance(m)

50

D i s t a n c e (m )

Fig.9.The path on concrete.

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