发表机构
Chair of Agrimechatronics, Munich Institute of Robotics and Machine Intelligence (MIRMI), Technical University of Munich（慕尼黑工业大学慕尼黑机器人与机器智能研究所（MIRMI）农业机电一体化教席）
机构由 AI 辅助整理，请以论文原文为准。AI 中文总结
本研究提出一种基于非线性模型预测控制的农用拖拉机路径跟踪控制器，将多段参考路径纳入目标函数，田间试验表明平均收敛时间3.45毫秒，平均绝对横向误差6.1厘米。
AI 中文摘要
引导拖拉机沿预定义参考路径行驶是精准农业的关键组成部分。本研究开发了一种基于非线性模型预测控制的路径跟踪控制器，该控制器将分段线性参考路径的多个段直接纳入目标函数中。此外，还提出了从完整路径中选择可行参考段的方法。控制系统的性能通过田间试验进行评估，试验中拖拉机通过拖拉机机具管理转向接口进行控制。NMPC求解器平均在3.45毫秒内收敛，并以6.1厘米的平均绝对横向误差跟踪了弯曲参考路径。
英文摘要
Guiding a tractor along a predefined reference path is a key component of precision agriculture. This study develops a path tracking controller based on Nonlinear Model Predictive Control, which incorporates multiple segments of a piecewise-linear reference path directly into the objective function. In addition, methods for selecting viable reference segments from the full path are presented. The control system is evaluated during a field test with a tractor controlled via the Tractor Implement Management steering interface. The NMPC solver converged on average after 3.45 ms and tracked the curved reference path with a mean absolute cross-track error of 6.1 cm.
