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Design of obstacle avoidance controller for agricultural tractor based on ROS

查看全文 作　　者：Zhengduo [1,2]Liu;Zhaoqin [1,2]Lü;Wenxiu [1,2]Zheng;Wanzhi [1,2]Zhang;Xiangxun [1,2]Cheng 高影响力作者 机构地区：[1]College of Mechanical and Electronic Engineering,Shandong Agricultural University,Tai’an 271018,China;[2]Shandong Provincial Key Laboratory of Horticultural Machinery and Equipment,Tai’an 271018,China高影响力机构 出　　处：《International Journal of Agricultural and Biological Engineering》索引2019年第12卷第6期,共8页高影响力期刊 基　　金：This work was supported by Shandong Agricultural Machinery and Equipment Research and Development Innovation Initiative(2018YF020-07,2017YF002);Modern Agricultural Technology System Innovation Team Post Project in Shandong Province(SDAIT-16-10);the National Key Research Projects(2017 yfd0700705). 摘　　要：The obstacle avoidance controller is a key autonomous component which involves the control of tractor system dynamics,such as the yaw lateral dynamics,the longitudinal dynamics,and nonlinear constraints including the speed and steering angles limits during the path-tracking process.To achieve the obstacle avoidance ability of control accuracy,an independent path re-planning controller is proposed based on ROS(Robot Operating System)nonlinear model prediction in this paper.In the design process,the obstacle avoidance function and an objective function are introduced.Based on these functions,the obstacle avoidance maneuvering performance is transformed into a nonlinear quadratic optimization problem with vehicle dynamic constraints.Moreover,the tractor dynamics maneuvering performance can be effectively adjusted through the proposed objective function.To validate the proposed algorithm,a ROS based tractor dynamics model and the SLAM(Simultaneous Localization and Mapping)are established for numerical simulations under different speed.The maximum obstacle avoidance deviation in the simulation is 0.242 m at 10 m/s,and 0.416 m at 30 m/s.The front-wheel rotation angle and lateral velocity are within the constraint range during the whole tracking process.The numerical results show that the designed controller can achieve the tractor obstacle avoidance ability with good accuracy under different conditions. 关 键 词：ROS obstacle avoidance nonlinear model prediction agricultural tractor
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