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首页> 外文期刊>IAES International Journal of Robotics and Automation >Leader-Follower Tracking System for Agricultural Vehicles: Fusion of Laser and Odometry Positioning Using Extended Kalman Filter
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Leader-Follower Tracking System for Agricultural Vehicles: Fusion of Laser and Odometry Positioning Using Extended Kalman Filter

机译：农用车辆的跟随者跟踪系统：使用扩展卡尔曼滤波器的激光和测距法定位的融合

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摘要

The aim of this research was to develop a safe human-driven and autonomous leader-follower tracking system for an autonomous tractor. To enable the tracking system, a laser range finder (LRF)-based landmark detection system was designed to observe the relative position between a leader and a follower used in agricultural operations. The virtual follower-based formation-tracking algorithm was developed to minimize tracking errors and ensure safety. An extended Kalman filter (EKF) was implemented for fusing LRF and odometry position to ensure stability of tracking in noisy farmland conditions. Simulations were conducted for tracking the leader in small and large sinusoidal curved paths. Simulated results verified high accuracy of formation tracking, stable velocity, and regulated steering angle of the follower. The tracking method confirmed the follower could follow the leader with a required formation safely and steadily in noisy conditions. The EKF helped to improve observation accuracy, velocity, and steering angle stability of the follower. As a result of the improved accuracy of observation and motion action, the tracking performance for lateral, longitudinal, and heading were also improved after the EKF was implemented in the tracking system.
机译：这项研究的目的是为自动拖拉机开发一种安全的，由人驱动的，自动的跟随者跟踪系统。为了启用跟踪系统，设计了基于激光测距仪（LRF）的地标检测系统，以观察农业活动中使用的引导者和跟随者之间的相对位置。开发了基于虚拟跟随者的编队跟踪算法，以最大程度地减少跟踪误差并确保安全。扩展卡尔曼滤波器（EKF）用于融合LRF和里程计位置，以确保在嘈杂的农田条件下跟踪的稳定性。进行了模拟，以跟踪大小正弦曲线路径中的引导线。仿真结果验证了地层追踪的高精度，稳定的速度以及随动件的转向角度可调。跟踪方法证实了追随者可以在嘈杂的条件下安全，稳定地跟随领导者并形成所需的编队。 EKF帮助提高了随动件的观察精度，速度和转向角稳定性。由于提高了观察和运动动作的准确性，在跟踪系统中实施了EKF后，横向，纵向和航向的跟踪性能也得到了改善。

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