Modelling and Control Methods in Path Tracking Control for Autonomous Agricultural Vehicles: A Review of State of the Art and Challenges

IF 2.5 4区综合性期刊 Q2 CHEMISTRY, MULTIDISCIPLINARY

Applied Sciences-Basel Pub Date : 2023-06-15 DOI:10.3390/app13127155

Quan Wang, Jin He, Caiyun Lu, Chao Wang, Han Lin, Hanyu Yang, Hang Li, Zhe Wu

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引用次数: 3

Abstract

This paper provides a review of path-tracking strategies used in autonomous agricultural vehicles, mainly from two aspects: vehicle model construction and the development and improvement of path-tracking algorithms. Vehicle models are grouped into numerous types based on the structural characteristics and working conditions, including wheeled tractors, tracked tractors, rice transplanters, high clearance sprays, agricultural robots, agricultural tractor–trailers, etc. The application and improvement of path-tracking control methods are summarized based on the different working scenes and types of agricultural machinery. This study explores each of these methods in terms of accuracy, stability, robustness, and disadvantages/advantages. The main challenges in the field of agricultural vehicle path tracking control are defined, and future research directions are offered based on critical reviews. This review aims to provide a reference for determining which controllers to use in path-tracking control development for an autonomous agricultural vehicle.

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自动农用车路径跟踪控制的建模与控制方法:现状与挑战综述

本文主要从车辆模型的构建和路径跟踪算法的发展与改进两个方面综述了自动农用车辆的路径跟踪策略。车辆模型根据结构特点和工作条件分为多种类型，包括轮式拖拉机、履带式拖拉机、水稻插秧机、高间隙喷雾器、农业机器人、农业拖拉机-拖车等。根据农业机械不同的工作场景和类型，总结了路径跟踪控制方法的应用和改进。本研究从准确性、稳定性、稳健性和缺点/优点等方面探讨了每种方法。在综述的基础上，明确了农用车辆路径跟踪控制领域面临的主要挑战，并提出了未来的研究方向。本文综述旨在为自主农用车辆路径跟踪控制开发中选用何种控制器提供参考。

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

Applied Sciences-Basel CHEMISTRY, MULTIDISCIPLINARYMATERIALS SCIE-MATERIALS SCIENCE, MULTIDISCIPLINARY

CiteScore

5.30

自引率

11.10%

发文量

10882

期刊介绍： Applied Sciences (ISSN 2076-3417) provides an advanced forum on all aspects of applied natural sciences. It publishes reviews, research papers and communications. Our aim is to encourage scientists to publish their experimental and theoretical results in as much detail as possible. There is no restriction on the length of the papers. The full experimental details must be provided so that the results can be reproduced. Electronic files and software regarding the full details of the calculation or experimental procedure, if unable to be published in a normal way, can be deposited as supplementary electronic material.