OBSTACLE AVOIDANCE METHOD FOR ELECTRIC TRACTOR BASED ON IMPROVED DYNAMIC WINDOW APPROACH WITH PRIORITY OF ENERGY CONSUMPTION-Reference-Cited by-同舟云学术

OBSTACLE AVOIDANCE METHOD FOR ELECTRIC TRACTOR BASED ON IMPROVED DYNAMIC WINDOW APPROACH WITH PRIORITY OF ENERGY CONSUMPTION

Published:2023-08-17 Issue: Volume: Page:309-319
ISSN:2068-2239
Container-title:INMATEH Agricultural Engineering
language:en
Short-container-title:INMATEH

Author:

TIANYI Huang¹,BADEA Florentina²,MAOHUA Xiao³,SHANHU Zhao⁴,BADEA Sorin-Ionut²,BADEA Cristian-Radu²

Affiliation:

1. College of Engineering, Nanjing Agricultural University, Nanjing 210031, China

2. National Institute of Research-Development for Mechatronics and Measurement Technique, Bucharest, Romania

3. College of Engineering, Nanjing Agricultural University, Nanjing 210031, China;

4. Jiangsu Yueda Intelligent Agricultural Equipment Co. LTD, Yancheng 224100, China

Abstract

In order to solve the real-time obstacle avoidance problem in electric tractor operation, an improved dynamic window approach (DWA) based on optimal energy consumption is proposed for electric tractor obstacle avoidance. Firstly, energy consumption model of tractor is established based on the transmission system of electric tractor, then energy consumption evaluation sub-function is introduced to improve the evaluation function of original DWA algorithm, and finally, the trajectory is evaluated and the optimal solution of the trajectory is determined by using new evaluation function. Based on the kinematics model of YL254ET electric tractor in Yancheng Yueda, a model predictive controller is designed. The obstacle avoidance planning and tracking control of electric tractor are simulated jointly on Simulink and CarSim simulation platform. Finally, the obstacle avoidance planning test is carried out. The simulation and experimental results show that after the algorithm improvement, the energy consumption of electric tractors is reduced, the generated path is smoother, and the lateral error is smaller.

Publisher

INMA Bucharest-Romania

Subject

Industrial and Manufacturing Engineering,Mechanical Engineering,Food Science

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