河蟹养殖无人作业船路径跟踪算法研究
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摘要
河蟹养殖无人作业船能解决人工养殖成本高、效率低等问题,提高渔民收益。河蟹养殖无人作业船自动导航作业的关键是路径跟踪,传统的纯追踪算法行驶路径只包含直线作业与岸边曲线转弯作业,不能满足作业船的自主循迹(自动导航)需求。为此针对预先规划的路径,研究了改进的纯追踪算法。通过试验对该导航控制算法进行验证,结果表明,无人作业船在以50cm/s的速度行驶并转弯半径为5m时,最大路径跟踪误差可以控制在0.1m以内。
In order to solve the problems of high labor cost and low efficiency in crab farming,an unmanned boat for crab farming is urgently needed to liberate labor force and improve fishermen's income. Path tracking is the key to the automatic navigation of the crab farming unmanned ship. Aiming at the fact that the operation path of the crab farming ship only includes straight line operation and bank curve turning operation,this paper improves the traditional pure tracking algorithm to satisfy the autonomous tracking(automatic navigation)operation of the crab farming ship. Taking Tianbao LGR-BD9821 receiver,RTK working mode station PDL,12 V/450 W DC brush motor and ARM9 control version as the main hardware equipment,the improved pure tracking algorithm is used for the pre-planned path,and the navigation control algorithm is verified by crab experiment. The test results show that the maximum path tracking error can be controlled within 0.1 m when the vehicle runs at a speed of 50 cm/s and the turning radius is 5 m.
In order to solve the problems of high labor cost and low efficiency in crab farming,an unmanned boat for crab farming is urgently needed to liberate labor force and improve fishermen's income. Path tracking is the key to the automatic navigation of the crab farming unmanned ship. Aiming at the fact that the operation path of the crab farming ship only includes straight line operation and bank curve turning operation,this paper improves the traditional pure tracking algorithm to satisfy the autonomous tracking(automatic navigation)operation of the crab farming ship. Taking Tianbao LGR-BD9821 receiver,RTK working mode station PDL,12 V/450 W DC brush motor and ARM9 control version as the main hardware equipment,the improved pure tracking algorithm is used for the pre-planned path,and the navigation control algorithm is verified by crab experiment. The test results show that the maximum path tracking error can be controlled within 0.1 m when the vehicle runs at a speed of 50 cm/s and the turning radius is 5 m.
引文
[1]张美娜，吕晓兰，陶建平，等.农用车辆自主导航控制系统设计与试验[J].农业机械学报，2016,47(7):42-47.
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[12]韩科立，朱忠祥，毛恩荣，等.基于最优控制的导航拖拉机速度与航向联合控制方法[J].农业机械学报，2013,44(2):165-170.
[13]罗吉.多功能全自动水产养殖作业船控制系统[D].镇江：江苏大学，2015.
[14]刘健，刘高峰.高斯-克吕格投影下的坐标变换算法研究[J].计算机仿真，2005,22(10):119-121.
[15]陈建峰，李芳，何宏.高斯-克吕格投影正反算公式的应用[J].中国科技纵横，2013(24):146-147.
[16]方俊.横轴墨卡托投影和高斯-克吕格投影[J].地理学报，1955(1):87-99.
[17]LIU J,LIU G F.Algorithm of coordinates conversion in Gauss-Kruger projection[J].Computer Simulation,2005,22(10):119-121.
[18]周建军，张漫，汪懋华，等.基于模糊控制的农用车辆路线跟踪[J].农业机械学报，2009,40(4):151-156.
[19]熊中刚，贺娟，敖邦乾，等.基于路径弯曲度动态预瞄搜索算法的车辆路径跟踪控制软件系统设计[J].江苏农业科学，2015,43(2):370-373.
[20]刘兆祥，刘刚，籍颖，等.基于自适应模糊控制的拖拉机自动导航系统[J].农业机械学报，2010,41(11):148-152.
[21]李革，王宇，郭刘粉，等.插秧机导航路径跟踪改进纯追踪算法[J].农业机械学报，2018(5):22-23.
[2]FLYNN P S T,MELLISH C L,PICKERING T R,et al.Effects of claw autotomy on green crab(carcinus maenas)feeding rates[J].Journal of Sea Research,2015(7):113-119.
[3]AICARDI M,CASALINO G,QINDIVERI G,et al.A planar path following controller for underactuated marine vehicles[EB/OL].http：//dx.doi.org/10.1016/j.seares.2015.07.002.
[4]LYNCH T,GREEN M,DAVIES C.Diver towed gps to estimate densities of a critically endangered fish[J].Biological Conservation,2015(191):700-706.
[5]张闻宇，丁幼春，王雪玲，等.基于SVR逆向模型的拖拉机导航纯追踪控制方法[J].农业机械学报，2016,47(1):30-35.
[6]田海清，应义斌，张方明.农业车辆导航系统中自动控制技术的研究进展[J].农业机械学报，2005,36(7):148-152.
[7]NAGASAKAN Y,SAITO H,TAMAKI K,et al.An autonomous rice transplanter guided by global positioning system and inertial measurement unit[J].Journal of Field Robotics,2009,26(6-7):537-548.
[8]KISE M,NOGUCHI N,ISHII K,et al.Development of the agricultural autonomous tractor with an RTK-GPS and a fog[C].IFAC:Proceedings of the 4th IFAC Symposium on Intelligent Autonomous Vehicles,2001:103-106.
[9]ASIF M,KHAN M,CAI N.Adaptive sliding mode dynamic controller with integrator in the loop for nonholonomic wheeled mobile robot trajectory tracking[J].International Journal of Control,2014,87(5):964-975.
[10]罗锡文，张智刚，赵祚喜，等.东方红X一04拖拉机的DGPS自动导航控制系统[J].农业工程学报，2009,25(11):139-145.
[11]李逃昌，胡静涛，高雷，等.基于模糊自适应纯追踪模型的农业机械路径跟踪方法[J].农业机械学报，2013,44(1):205-210.
[12]韩科立，朱忠祥，毛恩荣，等.基于最优控制的导航拖拉机速度与航向联合控制方法[J].农业机械学报，2013,44(2):165-170.
[13]罗吉.多功能全自动水产养殖作业船控制系统[D].镇江：江苏大学，2015.
[14]刘健，刘高峰.高斯-克吕格投影下的坐标变换算法研究[J].计算机仿真，2005,22(10):119-121.
[15]陈建峰，李芳，何宏.高斯-克吕格投影正反算公式的应用[J].中国科技纵横，2013(24):146-147.
[16]方俊.横轴墨卡托投影和高斯-克吕格投影[J].地理学报，1955(1):87-99.
[17]LIU J,LIU G F.Algorithm of coordinates conversion in Gauss-Kruger projection[J].Computer Simulation,2005,22(10):119-121.
[18]周建军，张漫，汪懋华，等.基于模糊控制的农用车辆路线跟踪[J].农业机械学报，2009,40(4):151-156.
[19]熊中刚，贺娟，敖邦乾，等.基于路径弯曲度动态预瞄搜索算法的车辆路径跟踪控制软件系统设计[J].江苏农业科学，2015,43(2):370-373.
[20]刘兆祥，刘刚，籍颖，等.基于自适应模糊控制的拖拉机自动导航系统[J].农业机械学报，2010,41(11):148-152.
[21]李革，王宇，郭刘粉，等.插秧机导航路径跟踪改进纯追踪算法[J].农业机械学报，2018(5):22-23.