Authors

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.

Abstract in Chinese

为解决电动拖拉机作业时的实时避障问题，提出一种基于能耗最优的改进动态窗口法（DWA）的电动拖拉机避障方法。首先基于电动拖拉机的传动系统建立拖拉机的能耗模型，接着引入能耗评价子函数来改进原始DWA算法的评价函数，最后使用新的评价函数对轨迹进行评价并确定轨迹的最优解。基于盐城悦达YL254ET电动拖拉机的运动学模型设计一种模型预测控制器﹐在Simulink与CarSim联合仿真平台上对电动拖拉机的避障规划及跟踪控制进行联合仿真,最后进行避障规划试验。仿真及试验结果表明：算法改进后电动拖拉机能耗降低，生成的路径更加平滑，横向误差更小。