Abstract
The high-precision combine harvester path tracking system is a key to protect the efficiency and precision of harvesting. The speed and heading of combine harvester are the main factors influencing the accuracy of tracking, and the speed changes all the time according to the harvester’s status. Traditional pure pursuit algorithm uses the constant look-ahead distance, cannot be adapted to the path tracking conditions of the combine harvester. The fuzzy control method for path tracking system was proposed to tune the look-ahead distance according to the speed and heading. Experiments showed that this method could restrain the maximum error from 0.142 m to 0.059 m, restrain the standard error from 0.042 m to 0.024 m, and improve the accuracy of harvest by 38.4%.
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Acknowledgements
The project is supported by the following funds: Primary Research & Development Plan of Jiangsu Province (BE2018384), National Key Research and Development Program (2016YFD0702000), National Natural Science Foundation of China (61773113, 41704025), Natural Science Foundation of Jiangsu Province (No. BK20160668).
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Qiao, N., Wang, Lh., Zhang, Yx., Xinhua, T. (2019). Fuzzy Control Method for Path Tracking System of Combine Harvester. In: Sun, X., Pan, Z., Bertino, E. (eds) Artificial Intelligence and Security. ICAIS 2019. Lecture Notes in Computer Science(), vol 11632. Springer, Cham. https://doi.org/10.1007/978-3-030-24274-9_15
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DOI: https://doi.org/10.1007/978-3-030-24274-9_15
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