OBSTACLE AVOIDANCE METHOD FOR ELECTRIC TRACTOR BASED ON IMPROVED DYNAMIC WINDOW APPROACH WITH PRIORITY OF ENERGY CONSUMPTION

IF 0.6 Q4 AGRICULTURAL ENGINEERING

INMATEH-Agricultural Engineering Pub Date : 2023-08-17 DOI:10.35633/inmateh-70-30

Tianyi Huang, F. Badea, M. Xiao, Shanhu Zhao, S. Badea, C. Badea

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Abstract

In order to solve the real-time obstacle avoidance problem in electric tractor operation, an improved dynamic window approach (DWA) based on optimal energy consumption is proposed for electric tractor obstacle avoidance. Firstly, energy consumption model of tractor is established based on the transmission system of electric tractor, then energy consumption evaluation sub-function is introduced to improve the evaluation function of original DWA algorithm, and finally, the trajectory is evaluated and the optimal solution of the trajectory is determined by using new evaluation function. Based on the kinematics model of YL254ET electric tractor in Yancheng Yueda, a model predictive controller is designed. The obstacle avoidance planning and tracking control of electric tractor are simulated jointly on Simulink and CarSim simulation platform. Finally, the obstacle avoidance planning test is carried out. The simulation and experimental results show that after the algorithm improvement, the energy consumption of electric tractors is reduced, the generated path is smoother, and the lateral error is smaller.

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基于能耗优先的改进动态窗口方法的电动拖拉机避障方法

为了解决电动拖拉机运行中的实时避障问题，提出了一种基于最优能耗的改进动态窗口避障方法。首先，基于电动牵引车的传动系统建立了牵引车的能耗模型，然后引入能耗评估子函数对原有DWA算法的评估函数进行改进，最后利用新的评估函数对轨迹进行评估，确定轨迹的最优解。基于盐城悦达YL254ET型电动拖拉机的运动学模型，设计了一种模型预测控制器。在Simulink和CarSim仿真平台上对电动拖拉机的避障规划和跟踪控制进行了联合仿真。最后，进行了避障规划试验。仿真和实验结果表明，改进算法后，电动拖拉机的能耗降低，生成的路径更平滑，横向误差更小。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

INMATEH-Agricultural Engineering AGRICULTURAL ENGINEERING-

CiteScore

1.30

自引率

57.10%

发文量