提出两种新方法，精准控制农机作业点位置，提升农业机器人作业精度。
A Novel Control Strategy for Offset Points Tracking in the Context of Agricultural Robotics
- 将原有控制律改进，适配农机具上偏移点的控制需求。
- 采用反步法设计直接控制作业点的新控制律。
- 实测验证新方法优于传统中心路径跟踪，适合农机自动控制场景。
本文提出一种新型控制策略，用于精确控制农业机器人作业时其机具上特定偏移点的位置。传统路径跟踪算法通常以车辆中心为控制目标，但实际农事操作由机具完成，因此需直接控制机具上的指定点。为此，本文提出两种方法：第一种改进现有控制律，适用于后轴中点控制的算法，实现期望横向偏移；第二种基于反步法设计控制律，直接针对机具进行控制。通过真实田间实验，验证了传统方法在偏移点控制中的局限性，并展示了两种新方法的优劣。结果表明，新方法能更精准地实现作业点轨迹跟踪，显著提升农业机器人作业精度与自动化水平。
原文摘要 · Abstract (English)
In this paper, we present a novel method to control a rigidly connected location on the vehicle, such as a point on the implement in case of agricultural tasks. Agricultural robots are transforming modern farming by enabling precise and efficient operations, replacing humans in arduous tasks while reducing the use of chemicals. Traditionnaly, path_following algorithms are designed to guide the vehicle's center along a predefined trajetory. However, since the actual agronomic task is performed by the implement, it is essential to control a specific point on the implement itself rather than vehicle's center. As such, we present in this paper two approaches for achieving the control of an offset point on the robot. The first approach adapts existing control laws, initially inteded for rear axle's midpoint, to manage the desired lateral deviation. The second approach employs backstepping control techniques to create a control law that directly targets the implement. We conduct real-world experiments, highlighting the limitations of traditional approaches for offset points control, and demonstrating the strengths and weaknesses of the proposed methods.
Thank you to arXiv for use of its open access interoperability. PaperDance 不是 arXiv 官方产品；中文卡片由大模型生成，请以原文为准。