Optimization of motion strategy for a micro multi-functional chassis based on RBF neural network in intercropping mode

Abstract

The hilly and mountainous regions of China are characterized by unique features such as small plots of land, steep slopes, fragmented fields, and high soil viscosity, which result in a decline in the efficiency of conventional agricultural machinery, or even render its use impractical. To address this issue, this study developed a micro universal chassis adapted to hilly terrains. First, a four-wheel-drive multifunctional electric micro chassis was designed, considering the terrain characteristics of hilly regions and the agronomic requirements of maize-soybean strip intercropping. Second, the kinematics of the chassis were modeled and analyzed to determine optimal posture control strategies, and a fuzzy RBF neural network-based PID control algorithm was designed to enable dynamic adjustment of the chassis. Then, extensive testing was conducted on the prototype chassis, including straight-line driving tests, steering tests, climbing tests, and passability tests, which demonstrated its excellent operational performance. The straight-line driving tests showed an average lateral deviation of 30 mm and a maximum deviation of 60 mm, while the in-situ steering tests recorded a deviation of 20 mm. Finally, the prototype was applied to field weeding operations, where results indicated that its performance, including travel speed, weeding efficiency, and seedling damage rate, significantly outperformed existing traditional models. The findings suggest that the designed multifunctional micro universal chassis is highly effective for use in hilly and mountainous regions, with superior performance particularly under intercropping systems.