Cross-line-Turn Path Tracking of Intelligent Agricultural Vehicle Based on MPC in Standard Orchard

Intelligent can greatly promote the rapid development of agricultural industry, and enhance the market competition of agricultural products, agriculture unmanned operation has been popular all over the world. In this paper, path tracking based on model predictive control (MPC) for the intelligent agricultural vehicle is investigated. The motion of the vehicle was simulated based on the path tracking error dynamics and vehicle lateral dynamics. Simulink-CarSim joint simulation platform was used to validate the proposed path tracking controller, because of the particularity of the orchard terrain and the big turning radius of the agricultural vehicle, the field turning needs large space, so the cross-line turning is designed for the simulation, the simulation results show that the control method is feasible. the mean values of the error of the vehicle for the straight lines are 1.8 cm. Besides, the mean values of the error of the vehicle for the curved lines are 5.44 cm.