Journal of Field Robotics,
Journal Year:
2024,
Volume and Issue:
unknown
Published: Sept. 9, 2024
ABSTRACT
The
six‐crawler
driving
mechanism
plays
a
crucial
role
in
the
operation
of
large
machines
such
as
bucket‐wheel
excavators,
dumping
machines,
and
mobile
crushing
stations,
it
serves
functions
like
bearing,
movement
steering.
characteristics
this
directly
influence
safety
efficiency
these
machinery
systems.
To
enhance
design
methodology
for
multi‐crawler
machinery,
improve
path
controllability,
achieve
adaptive
driving,
satellite
navigation
control
system
was
developed
based
on
principles
real‐time
kinematic
(RTK)
positioning.
This
utilizes
distance
deviation
heading
angle
between
actual
predetermined
inputs
to
fuzzy
proportion
integration
differentiation
(fuzzy
PID)
controller.
controller
regulates
steering
crawler
speeds
each
track,
thereby
ensuring
precise
tracking
control.
evaluate
performance
under
both
straight
curved
conditions,
virtual
prototype
model
mechanical
established,
co‐simulation
analysis
conducted.
In
addition,
an
experimental
platform
established
validate
efficacy
system.
data
obtained
from
various
conditions
initial
deviations
demonstrated
that
RTK
exhibited
excellent
performance.
Unmanned
agricultural
tractor
(UAT)
represents
the
advanced
stage
of
autonomous
navigation
and
serves
as
a
core
technology
in
production.
It
reduces
operator’s
workload,
improves
operational
accuracy
efficiency.
This
article
reviews
three
aspects
key
technologies
for
UATs:
perception,
path
planning
tracking,
motion
control.
The
advantages,
shortages
these
on
UATs
are
clarified
by
analyzing
technical
principles
current
research
status.
We
conducted
summaries
analyses
existing
unmanned
solutions
different
application
scenarios
order
to
identify
bottleneck
issues.
Based
analysis
applicability
UATs,
it
can
be
seen
that
fruitful
progresses
have
been
achieved.
review
also
summarizes
common
problems
technologies.
sharing
integrating
multi-source
data
relatively
weak.
There
is
an
urgent
need
high-precision,
high-stability
sensing
equipment.
universality
methods,
efficiency
precision
tracking
improved.
necessary
develop
high
reliability
electrical
control
modules
enhance
performance.
Overall,
sensors,
high-performance
intelligent
algorithms,
reliable
hardware
factors
promoting
development
UAT
technology.
Agriculture,
Journal Year:
2024,
Volume and Issue:
14(7), P. 1079 - 1079
Published: July 4, 2024
In
the
rainy
season,
which
often
has
uncertain
rainfall,
crawler
combine
harvesters
have
difficulty
traversing
wet
and
soft
rice
fields.
A
large
amount
of
clay
is
accumulated
on
track
surfaces,
resulting
in
frequent
slipping
sinking,
greatly
affects
operational
performance
harvesting
efficiency
harvesters.
To
address
this
issue,
paper
proposes
a
high-traction
grouser
based
structure
an
ostrich’s
foot
sole.
First,
traction
force
mathematical
model
constructed
to
analyze
interaction
between
fields,
parameter
optimization
conducted.
Then,
bionic
information
dung
beetle’s
non-smooth
body
surface
extracted,
designed
with
biomimetic
convex
hull
patterns
geometric
similarity
principle
adhesive
experiments.
Finally,
analysis
results
indicate
that
optimized
significantly
improved
For
plate
desorption
pattern,
diameter
6
mm,
spacing
8.25
height
3
mm
led
good
adhesion
reduction
effects
soil.
Agriculture,
Journal Year:
2024,
Volume and Issue:
14(9), P. 1473 - 1473
Published: Aug. 29, 2024
Agriculture
is
a
labor-intensive
industry.
However,
with
the
demographic
shift
toward
an
aging
population,
agriculture
increasingly
confronted
labor
shortage.
The
technology
for
autonomous
operation
of
agricultural
equipment
in
large
fields
can
improve
productivity
and
reduce
intensity,
which
help
alleviate
impact
population
on
agriculture.
Nevertheless,
significant
challenges
persist
practical
application
this
technology,
particularly
concerning
adaptability,
operational
precision,
efficiency.
This
review
seeks
to
systematically
explore
advancements
unmanned
operations,
focus
onboard
environmental
sensing,
full-coverage
path
planning,
control
technologies.
Additionally,
discusses
future
directions
key
technologies
fields.
aspires
serve
as
foundational
reference
development
large-scale
equipment.
Machines,
Journal Year:
2024,
Volume and Issue:
12(4), P. 218 - 218
Published: March 25, 2024
The
development
of
unmanned
agricultural
tractors
(UAT)
represents
a
significant
step
towards
intelligent
equipment.
UAT
technology
is
expected
to
lighten
the
workload
laborers
and
enhance
accuracy
efficiency
mechanized
operations.
Through
investigation
123
relevant
studies
in
literature
published
recent
years,
this
article
reviews
three
aspects
autonomous
navigation
technologies
for
UATs:
perception,
path
planning
tracking,
motion
control.
advantages
deficiencies
these
context
UATs
are
clarified
by
analyzing
technical
principles
status
current
research.
We
conduct
summaries
analyses
existing
solutions
different
application
scenarios
order
identify
bottleneck
issues.
Based
on
analysis
applicability
UATs,
it
can
be
seen
that
fruitful
research
progress
has
been
achieved.
review
also
summarizes
common
problems
technologies.
sharing
integrating
multi-source
data
so
far
relatively
weak.
There
an
urgent
need
high-precision
high-stability
sensing
universality
methods
precision
tracking
improved,
necessary
develop
highly
reliable
electrical
control
modules
performance.
Overall,
advanced
sensors,
high-performance
algorithms,
hardware
key
factors
promoting
technology.
Sensors,
Journal Year:
2025,
Volume and Issue:
25(4), P. 1110 - 1110
Published: Feb. 12, 2025
Automatic
navigation,
as
one
of
the
modern
technologies
in
farming
automation,
enables
unmanned
driving
and
operation
agricultural
vehicles.
In
this
research,
ZPTM
(Zigzag
Path
Tracking
Method)
was
proposed
to
reduce
complexity
path
planning
by
using
a
point
cloud
consisting
series
anchor
points
with
spatial
information,
which
are
obtained
from
orthophotos
taken
UAVs
(Unmanned
Aerial
Vehicles)
represent
curved
zigzag.
A
local
straight
created
linking
two
adjacent
points,
forming
target
be
tracked,
simplified
navigation
algorithm
for
zigzag
tracking.
nonlinear
feedback
function
established,
both
lateral
heading
errors
inputs
determining
desired
angle
vehicles,
were
guided
along
minimal
errors.
GUI
(Graphic
User
Interface)
designed
on
terminal
visualize
monitor
working
process
vehicles
automatic
displaying
interactive
controls
components,
including
representations
vehicle
affine
transformation.
high-clearance
sprayer
equipped
an
system
utilized
test
platform
evaluate
ZPTM.
Zigzag
tests
conducted
explore
impact
tracking
parameters,
curvature,
moving
speed,
spacing
between
performance.
Based
these
tests,
regression
model
established
optimize
parameters
achieving
accurate
smooth
movement.
Field
results
showed
that
maximum
error,
average
RMS
(Root
Mean
Square)
error
3.30
cm,
2.04
2.27
respectively.
These
indicate
path-based
research
demonstrates
adequate
stability,
accuracy,
applicability
navigation.
