Article(id=1325193348381815647, tenantId=1146029695717560320, journalId=1319690209941618849, issueId=1325193133021069343, articleNumber=null, orderNo=null, doi=10.12398/j.issn.2096-7217.2024.04.006, pmid=null, cstr=null, oa=null, hot=null, price=null, onlineType=0, articleFormat=0, articleType=null, articleTypeStr=null, receivedDate=1722787200000, receivedDateStr=2024-08-05, revisedDate=1727020800000, revisedDateStr=2024-09-23, acceptedDate=null, acceptedDateStr=null, onlineDate=1793880315155, onlineDateStr=2026-11-05, pubDate=1731600000000, pubDateStr=2024-11-15, doiRegisterDate=null, doiRegisterDateStr=null, onlineIssueDate=1793880315155, onlineIssueDateStr=2026-11-05, onlineJustAcceptDate=null, onlineJustAcceptDateStr=null, onlineFirstDate=null, onlineFirstDateStr=null, sourceXml=null, magXml=null, createTime=1793880315155, creator=13701087609, updateTime=1793880315155, updator=13701087609, issue=Issue{id=1325193133021069343, tenantId=1146029695717560320, journalId=1319690209941618849, year='2024', volume='5', issue='4', pageStart='1', pageEnd='106', issueExtLink='null', onlineDate='null', pubDate='1731600000000', pubDateStr='2024-11-15', beforeIssueId=null, nextIssueId=null, price=null, status=1, issueComplete=1, articleOrder=1, issueType=-1, specialIssue=null, createTime=1793880263810, creator='13701087609', updateTime=1793944010668, updator='13701087609', preIssue=null, nextIssue=null, articleTotal=null, ext={EN=IssueExt(id=1325460507938927033, tenantId=1146029695717560320, journalId=1319690209941618849, issueId=1325193133021069343, language=EN, specialIssueTitle=, coverIllustrator=null, specialIssueEditor=, specialIssueAbout=), CN=IssueExt(id=1325460507938927034, tenantId=1146029695717560320, journalId=1319690209941618849, issueId=1325193133021069343, language=CN, specialIssueTitle=, coverIllustrator=null, specialIssueEditor=, specialIssueAbout=)}, issueFiles=null, downloadFileDto=null}, startPage=84, endPage=94, ext={EN=ArticleExt(id=1325193348599919456, articleId=1325193348381815647, tenantId=1146029695717560320, journalId=1319690209941618849, language=EN, title=Design and experiment of a tracked weeding robot based on model predictive control, columnId=null, journalTitle=Journal of Intelligent Agricultural Mechanization, columnName=null, runingTitle=null, highlight=null, articleAbstract=

Aiming at the problems of difficult weeding operation, low weeding efficiency and low level of intelligence in orchards in hilly and mountainous areas, a small mountain orchard weeding robot was designed. In order to improve the tracking accuracy of the tracked weeding robot's operation path, the research of tracked weeding robot's path tracking control algorithm was carried out. The ‘inverted triangle swivel structure’ was used to design an imitation floating chassis, which carried a ‘Y-type’ blade assembly for crushing and weeding and powered by an extended-range hybrid power system, and a slope steering control strategy based on model predictive control was proposed to address the problem of large slope steering slippage. The round-trip path planning method was used to plan the full coverage path of the orchard. Combined with BDS positioning and navigation technology and full coverage path planning, the crawler weeding robot was ensured to have high tracking accuracy during operation. The kinematic model of the crawler weeding robot was constructed, and the steering dynamics and control strategy of the crawler weeding robot on the slope were simulated and analyzed in MATLAB software. The simulation results show that the average error of the designed slope steering model is only 0.039 m under the condition of 15°, which demonstrates a good accuracy. Field experiments show that the MPC controller proposed in this paper can effectively improve the path tracking effect under slope steering conditions, and the average error under uphill and downhill conditions is reduced by 51.76%and 63.77%, respectively, compared with the PID controller when the slope angle is 15°. The weeding robot integrated with BeiDou navigation function has an effective weeding rate higher than 97% and can walk normally on a 25° slope. The research results provide a reference for the development of weeding robots in hilly and mountainous areas.

, authors=Lijun ZHAO¹, Yunfan JIA¹, Wenke YIN¹, Hua HUANG¹, Xiang LI², Qiang LI^{1, *}, authorsList=Lijun ZHAO, Yunfan JIA, Wenke YIN, Hua HUANG, Xiang LI, Qiang LI, authorCompany=null, correspAuthors=Qiang LI, authorNote=null, correspAuthorsNote=null, copyrightStatement=null, copyrightOwner=null, extLink=null, articleAbsUrl=null, sourceXml=null, magXml=null, pdfUrl=null, pdf=null, pdfFileSize=null, pdfExtLink=null, richHtmlUrl=null, mobilePdfUrl=null, reviewReport=null, pdfFirstPage=null, abstractGraph=null, abstractGraphContent=null, abstractVideo=null, citation=null, cebUrl=null, magXmlContent=null, mapNumber=null, fund=null), CN=ArticleExt(id=1325193348910297953, articleId=1325193348381815647, tenantId=1146029695717560320, journalId=1319690209941618849, language=CN, title=基于模型预测控制的履带式除草机器人设计与试验, columnId=0, journalTitle=智能化农业装备学报（中英文）, columnName=, runingTitle=null, highlight=null, articleAbstract=

针对丘陵山区果园除草作业困难、除草效率低、智能化水平不高等问题，设计了一种小型山地果园除草机器人。为提高履带式除草机器人作业路径的跟踪精度，开展了履带式除草机器人路径跟踪控制算法研究。采用“倒三角形旋接结构”设计了一种仿形浮动底盘，搭载“Y型”甩刀组件进行粉碎除草作业，由增程式油电混合动力系统提供动力支持，针对斜坡转向滑移大等问题提出了基于模型预测控制（MPC）的斜坡转向控制策略，采用往返式路径规划方法对果园进行全覆盖路径规划，结合BDS定位导航技术及全覆盖路径规划方式，确保履带式除草机器人在作业过程中具备高跟踪精度。构建履带除草机器人运动学模型，在MATLAB软件中，对履带除草机器人在斜坡上的转向动力学及其控制策略进行了仿真分析。仿真试验结果表明，设计的坡面转向模型在15°条件下路径跟踪平均误差仅为0.039 m，展现了良好的精确度。田间试验表明，提出的MPC控制器能够有效改善坡面转向工况下路径跟踪效果，在坡度角为15°时，上下坡工况下平均误差相较于PID控制器分别减小了51.76%，63.77%。融合北斗导航功能的除草机器人，有效除草率高于97%，可在25°坡面上正常行走。该研究成果为丘陵山地除草机器人的研制提供了参考。

, authors=赵立军¹, 贾云帆¹, 殷文科¹, 黄华¹, 李想², 李强^{1, *}, authorsList=赵立军, 贾云帆, 殷文科, 黄华, 李想, 李强, authorCompany=null, correspAuthors=李强, authorNote=, correspAuthorsNote=, copyrightStatement=null, copyrightOwner=null, extLink=null, articleAbsUrl=null, sourceXml=0KDSY+Gx4VgygEMFIIn2uw==, magXml=sVxkjNQ51lQPk5RFh5FezA==, pdfUrl=null, pdf=6ETVqXcxTHVFX+/f8Y46PA==, pdfFileSize=1510895, pdfExtLink=null, richHtmlUrl=null, mobilePdfUrl=null, reviewReport=null, pdfFirstPage=null, abstractGraph=null, abstractGraphContent=null, abstractVideo=null, citation=null, cebUrl=null, magXmlContent=KPyImmzaxF8mYf1PSaHAhg==, mapNumber=null, fund=null)}, authors=[Author(id=1325193350466384745, tenantId=1146029695717560320, journalId=1319690209941618849, articleId=1325193348381815647, orderNo=0, firstName=null, middleName=null, lastName=null, nameCn=null, orcid=null, stid=null, country=null, authorPic=null, dead=0, email=20190005@cqwu.edu.cn, emailSecond=null, emailThird=null, correspondingAuthor=0, authorType=1, ext={EN=AuthorExt(id=1325193350562853739, tenantId=1146029695717560320, journalId=1319690209941618849, articleId=1325193348381815647, authorId=1325193350466384745, language=EN, stringName=Lijun ZHAO, firstName=Lijun, middleName=null, lastName=ZHAO, prefix=null, suffix=null, authorComment=null, nameInitials=null, affiliation=null, department=null, xref=¹, address=^1.School of Intelligent Manufacturing Engineering, Chongqing University of Arts and Sciences, Chongqing 402160, China, bio=null, bioImg=null, bioContent=null, aboutCorrespAuthor=null), CN=AuthorExt(id=1325193350655128428, tenantId=1146029695717560320, journalId=1319690209941618849, articleId=1325193348381815647, authorId=1325193350466384745, language=CN, stringName=赵立军, firstName=null, middleName=null, lastName=null, prefix=null, suffix=null, authorComment=null, nameInitials=null, affiliation=null, department=null, xref=¹, address=^1.重庆文理学院智能制造工程学院，重庆市，402160, bio={"content":"

赵立军，男，1980年生，黑龙江克山人，博士，教授；研究方向为山地智能农业装备及机器人。E-mail：20190005@cqwu.edu.cn

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赵立军，男，1980年生，黑龙江克山人，博士，教授；研究方向为山地智能农业装备及机器人。E-mail：20190005@cqwu.edu.cn

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