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Path tracking control method for automatic navigation rice transplanters based on VUFC and improved BAS algorithm

Published online by Cambridge University Press:  10 July 2023

Dequan Zhu ,
Menghao Shi Open the ORCID record for Menghao Shi [Opens in a new window] ,
Yang Wang ,
Kang Xue ,
Juan Liao ,
Wei Xiong ,
Fuming Kuang  and
Shun Zhang
Dequan Zhu*
Affiliation:
School of Engineering, Anhui Agricultural University, Hefei, P.R. China Anhui Province Engineering Laboratory of Intelligent Agricultural Machinery Equipment, Anhui Agricultural University, Hefei, China
Menghao Shi
Affiliation:
School of Engineering, Anhui Agricultural University, Hefei, P.R. China
Yang Wang
Affiliation:
School of Engineering, Anhui Agricultural University, Hefei, P.R. China
Kang Xue
Affiliation:
School of Engineering, Anhui Agricultural University, Hefei, P.R. China
Juan Liao
Affiliation:
School of Engineering, Anhui Agricultural University, Hefei, P.R. China
Wei Xiong
Affiliation:
School of Engineering, Anhui Agricultural University, Hefei, P.R. China
Fuming Kuang
Affiliation:
School of Engineering, Anhui Agricultural University, Hefei, P.R. China
Shun Zhang
Affiliation:
School of Engineering, Anhui Agricultural University, Hefei, P.R. China
*
Corresponding author: Dequan Zhu; Email: zhudequan@ahau.edu.cn
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Abstract

During the operation of automatic navigation rice transplanter, the accuracy of path tracking is influenced by whether the transplanter can enter the stable state of linear path tracking quickly, thus affecting the operation quality and efficiency. To reduce the time to enter the path tracking stable state and improve the tracking accuracy and stability for the rice transplanter, path tracking control method based on variable universe fuzzy control (VUFC) and improved beetle antenna search (BAS) is proposed in this paper. VUFC is applied to achieve adaptive adjustment of the fuzzy universe by dynamically adjusting the quantization and scaling factors according to the variations of errors by the contraction–expansion factor. To solve the problem of setting the contraction–expansion factor in VUFC and real-time performance, an offline parameter optimization method is presented to calculate the optimal contraction–expansion factor by an iterative optimization algorithm in a path tracking simulation model, where the iterative optimization algorithm is the BAS algorithm improved by the isolated niching technique and adaptive step size strategy in this paper. To verify the effectiveness of the proposed path tracking control method, simulation and field linear path tracking experiments were carried out. Experimental results indicate that the proposed method reduces the time of entering the stable state of linear path tracking and improves the accuracy and stability of path tracking compared with the pure pursuit control method.

Keywords

path tracking algorithmpure pursuit algorithmrice transplanterthe beetle antennae search algorithmvariable universe fuzzy control

Information

Type
Research Article
Information
Robotica , Volume 41 , Issue 10 , October 2023 , pp. 3116 - 3136
Copyright
© The Author(s), 2023. Published by Cambridge University Press

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