Agriculture,
Год журнала:
2023,
Номер
14(1), С. 65 - 65
Опубликована: Дек. 29, 2023
In
the
context
of
automatic
driving,
analysis
steering
motion
characteristics
is
critical
for
enhancing
efficiency
crawler
harvesters.
To
address
issues
such
as
low
transmission
and
large
radius
encountered
by
traditional
harvesters
featuring
hydrostatic
drives,
a
driven
harvester
chassis
was
designed.
This
involved
system
structure
its
under
several
conditions,
including
differential
steering,
direction
reversal,
unilateral
braking
steering.
The
parameters
were
determined
based
on
real-time
kinematic
positioning–global
navigation
satellite
(RTK-GNSS)
measurements,
they
compared
with
theoretical
predictions
kinematics.
slip
rates
modified
models
various
modes
then
obtained.
results
indicated
that
increase
in
ratio
between
running
input
speeds
led
to
larger
track
radii
smaller
average
rotational
angular
velocities.
Remarkably,
slopes
linear
fits
tracked
varied
significantly
reversal
modes.
Compared
actual
results,
correlation
coefficient
fitting
model
close
1.
parameter
deemed
suitable
operational
requirements.
provide
valuable
reference
designing
operating
different
road
surfaces.
Agriculture,
Год журнала:
2025,
Номер
15(7), С. 676 - 676
Опубликована: Март 22, 2025
Autonomous
driving
solutions
for
agricultural
machinery
have
advanced
rapidly;
however,
large-wheeled
harvesters
present
unique
challenges
compared
to
traditional
vehicles.
Specifically,
the
5.4
m
cutting
width,
9.2
minimum
turning
diameter,
and
rear-wheel–steered
configuration
demand
specialized
path
tracking
steering
methods.
To
address
these
challenges,
this
study
developed
an
integrated
system
combining
feedforward
PID
Look-Ahead
Ackermann
(LAA)
algorithms
with
sensors,
actuators,
embedded
control
platform.
Field
experiments
indicated
that
maintained
average
lateral
deviation
of
approximately
5
cm
on
straight-line
paths,
slightly
larger
errors
observed
only
during
or
alignment
maneuvers.
Additionally,
a
“three-cut”
method
was
implemented,
which
enhanced
accuracy
prevented
crop
damage
at
headland
turns.
Successful
field
tests
confirmed
robustness
system,
highlighting
its
practical
potential
production-level
autonomous
harvesting.
Journal of Field Robotics,
Год журнала:
2025,
Номер
unknown
Опубликована: Май 18, 2025
ABSTRACT
The
articulated
quad‐track
vehicles
exhibit
excellent
mobility
and
obstacle‐crossing
capabilities
in
outdoor
environments,
making
them
widely
applicable
agriculture
military
fields.
Their
steering
control
is
a
complex
issue
influenced
by
numerous
factors.
To
reduce
the
computational
complexity
of
controller,
achieve
rapid
system
response,
simultaneously
improve
stability
precision
during
process,
an
optimal
matching
analysis
performed
between
inner
outer
track
speed
ratios
deflection
angles
at
front
rear
articulation
points
vehicle.
By
utilizing
fuzzy
proportional–integral–derivative
visual
navigation,
path‐tracking
experimental
platform
for
vehicle
designed.
Through
combination
virtual
prototype
simulations
physical
experiments,
distance
deviation
heading
angle
actual
driving
path
prototypes
preset
are
analyzed.
designed
path–tracking
can
adjust
speeds
left
right
tracks
point
based
on
path,
enabling
to
path.
Under
stable
conditions,
within
0.1
m,
6°,
demonstrating
performance.
Journal of Field Robotics,
Год журнала:
2024,
Номер
unknown
Опубликована: Сен. 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.
