| 两步纯追踪航向校正模型算法 |
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| 引用本文： | 陈康,周志峰,王永泉,陈宁.两步纯追踪航向校正模型算法[J].华南农业大学学报(社会科学版),2015,33(1). |
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| 作者姓名： | 陈康 周志峰 王永泉 陈宁 |
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| 作者单位： | 1．上海工程技术大学机械工程学院，上海201620：2．上海司南卫星导航技术有限公司，上海201103 |
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| 摘 要： | 为了提高农业机械导航精度，在纯追踪算法的基础上，设计了两步纯追踪航向校正模型算法，通过校正车体的航
向角，减小车体的横向误差。在MATLAB环境下仿真结果表明，该算法比纯追踪算法的精度高，最大误差和标准差均有
所减小。在4轮电动车上，搭建液压系统和卫星接收系统，进行现场试验，验证了两步纯追踪航向校正模型算法的可行
性和有效性。
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| 关 键 词： | 两步纯追踪航向校正模型算法 |
Trajectory Tracking Method Based on Two-Step Pure Pursuit Heading Calibration Model for Agricultural Vehicle |
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| CHEN Kangl,ZHOU Zhifengl,WANG Yongquan,CHEN Ning.Trajectory Tracking Method Based on Two-Step Pure Pursuit Heading Calibration Model for Agricultural Vehicle[J].Journal of South China Agricultural University:Social Science Edition,2015,33(1). |
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| Authors: | CHEN Kangl ZHOU Zhifengl WANG Yongquan CHEN Ning |
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| Institution: | 1 . School of Mechanical Engineering , Shanghai University of Engineering Science , Shanghai 201600 , China ;
2. ComNav Technology Ltd. , Shanghai 201100 , China |
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| Abstract: | On the basis of pure pursuit algorithm analysis published or used in recently years, a model of two-step pure
pursuit course correction algorithm was designed, vehicle heading angle was corrected, thereby reducing the lateral error
of the vehicle body. The simulation results under Matlab show that the algorithm is more accurate than the pure pursuit
algorithm, and the maximum error and standard deviation are all reduced. In the four-wheel electric car. a set of
hydraulic system and a set of satellite receiving systems were built. and the algorithm field test was carried out to verify
the feasibility and effectiveness. |
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| Keywords: | navigation control pure pursuit model two-step pure pursuit heading calibration model look-ahead distance steering angle |
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