With the development of agricultural automation, applying intelligent algorithms to the navigation control of agricultural work vehicles has important practical significance for improving vehicle navigation accuracy and operation efficiency. In view of the complexity of the agricultural greenhouse environment, this study proposed a fuzzy PID path tracking algorithm based on the traditional vehicle PID control system. This algorithm uses a fuzzy controller to improve the PID control system, thereby realizing the online setting of PID control parameters. In order to verify the effectiveness of the fuzzy PID path tracking algorithm, the improved control system was applied to the tracked vehicle robot of Beijing Forestry University, and the operation performance of the vehicle robot was tested. The research results show that the absolute error rate of vehicle robot distance measurement is less than 1%; the error of the man-machine follow-up test is between 4 and 7 cm, and the measured follow-up distance is slightly less than the safe follow-up distance; the maximum error of the vehicle's fixed-point parking is 0.3 cm; The linear position tracking control has a lateral position deviation of ±3cm, and the vehicle's linear driving control and steering effects are better. The fuzzy PID path tracking algorithm designed this time shows good control performance, which has reference significance for the practical application of agricultural robots.
A Path Tracking Algorithm Using Future Prediction Control with Spike Detection for an Autonomous Vehicle Robot
