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| Obstacle-avoiding stability control method of tractor in tea plantation based on Bezier curve optimization
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| (1. Automotive Engineering Research Institute, Jiangsu University, Zhenjiang， Jiangsu 212013, China； 2. Tencent Yantai New Engineering Research Institute, Yantai， Shandong 264000, China； 3. Baosheng System Integration Technology Co., Ltd., Yangzhou， Jiangsu 225800, China)
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Abstract To solve the safety problems of tractors in tea plantation (TTP) in obstacle avoidance turning with rollover and overturn, an obstacle avoidance stable path control method was proposed based on Bezier curve optimization. The kinematics analysis was carried out according to operation scene and operation stability, and the safety operation characteristics of TTP were systematically analyzed. The obstacle avoidance path planning system framework and the Bezier curve path optimization method were designed. The path fitted by this method had the advantages of smooth path, continuous curvature with the same curvature at the beginning and end. TTP model and ramp obstacle avoidance environment model were established on CarSim simulation platform to verify and analyze two important operation stability parameters of yaw velocity and sideslip angle. The results show that TTP has good running stability when the running speed is less than the steering limit speed under the path fitted by Bezier curve. When the steering speed exceeds 65.1% of the steering limit speed, the overshooting rates of yaw velocity and the centroid sideslip angle reach 50.3% and 78.6%, respectively. At the same time, with the increasing of slope, TTP stability can be further deteriorated even if the speed is kept below the limit speed. When the slope angle is increased by 10°, the overshoot rates of yaw velocity and the centroid sideslip angle reach 32.8% and 14.5% on average，respectively.
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Received: 25 February 2022
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