Authors: Shuai Li,
Long Qi,
Ying Chen
Identifier: CSBE19136
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Published in: CSBE-SCGAB Technical Conferences » AGM Vancouver 2019
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Description: Abstract: At present, the navigation research on agricultural machinery mainly focuses on two navigation methods, GPS and machine vision. However, due to the high price and high technical difficulty, the application and promotion of these methods are limited, and the automation of linear transplanting of rice transplanter can be realized at a lower cost. In this study, the objective was to adopt the navigation method of MIMU and EC to achieve the automatic navigation of the rice transplanter. In the experiment, the MIMU and the EC were used as the detection equipment to collect the position information and the yaw angle of the rice transplanter in real time. The multi-sensor fusion technology based on the combined Kalman filter was able to integrate the micro inertia and the real angle of the electronic compass to obtain the precise heading angle. A kinematics model of the transplanter was developed, and a fuzzy adaptive PID controller was used. Using the speed of the steering wheel motor as the output, the rice transplanter was controlled to travel straight along the initial angle. The results showed that the system developed could successfully realize the linear transplanting function of the transplanter in the paddy field.
Keywords: Agricultural machinery navigation, MIMU/EC, Combined navigation Combined Kalman filte, fuzzy adaptive PID controller
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Date: 2019-07-15
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Conference name: CSBE/SCGAB 2019 Annual Conference, Vancouver, BC, 14-17 July 2019.
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Type: Poster
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Publication type: Text.Abstract
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Coverage: China, People's Republic of
Language 1: en
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Rights: Canadian Society for Bioengineering
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