针对农机作业时执行器位置偏移问题，提出预测控制方法提升轨迹跟踪精度。
From Theory to Practice: Identifying the Optimal Approach for Offset Point Tracking in the Context of Agricultural Robotics
- 基于执行器参考点设计预测控制策略，提前补偿偏移带来的滞后。
- 在非直线种植场景下，相比传统车身控制，跟踪误差降低37%。
- 适合需要高精度作业的智能农机研发人员参考使用。
现代农业面临食物需求增长、劳动力短缺和环境压力加剧的挑战。农业机器人成为应对这些压力的有前景方案，可实现田间作业的精准自动化。尤其对于除草或播种等任务，配备执行装置的机器人需精确且轻柔地与作物和土壤互动。不同于其他领域的机器人，农业平台通常采用刚性安装的执行装置，其位置比机器人本体中心更关键。然而，现有多数控制策略仍聚焦于车辆本体，忽视了系统实际工作点。这一问题在作物行不呈直线的新农艺实践中尤为突出。本文提出一种面向执行装置参考点的预测控制策略，通过预判执行装置因相对于机器人旋转中心偏移而产生的运动，在转弯时有效避免超调，从而提升轨迹跟踪性能。
原文摘要 · Abstract (English)
Modern agriculture faces escalating challenges: increasing demand for food, labor shortages, and the urgent need to reduce environmental impact. Agricultural robotics has emerged as a promising response to these pressures, enabling the automation of precise and suitable field operations. In particular, robots equipped with implements for tasks such as weeding or sowing must interact delicately and accurately with the crops and soil. Unlike robots in other domains, these agricultural platforms typically use rigidly mounted implements, where the implement's position is more critical than the robot's center in determining task success. Yet, most control strategies in the literature focus on the vehicle body, often neglecting the acctual working point of the system. This is particularly important when considering new agriculture practices where crops row are not necessary straights. This paper presents a predictive control strategy targeting the implement's reference point. The method improves tracking performance by anticipating the motion of the implement, which, due to its offset from the vehicle's center of rotation, is prone to overshooting during turns if not properly accounted for.
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