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Multi-sensor based attitude prediction for agricultural vehicles

Zhu, Qingyuan and Chen, Wei and Hu, Huosheng and Wu, Xiongfeng and Xiao, Chunsheng and Song, Xinyi (2019) 'Multi-sensor based attitude prediction for agricultural vehicles.' Computers and Electronics in Agriculture, 156. 24 - 32. ISSN 0168-1699

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Abstract

Agricultural vehicles need active attitude prediction to prevent rollover and maintain safe operations on unstructured terrains. This paper proposes a multi-sensor based approach to the attitude prediction of agricultural vehicles. Firstly, the unstructured terrain information in front of agricultural vehicle is obtained by the embedded multi-sensor system such as LIDAR, IMU and encoders. Secondly, a combination of Genetic Algorithm and BP neural network (GA-BP) is proposed to predict the future position of the agricultural vehicle. Both the unstructured terrain information and the predicted vehicle position are used to calculate the tire grounding points of agricultural vehicle on the unstructured terrain. Finally, the tire grounding points are combined with vehicle geometry model to predict the vehicle attitude (pitch and roll angles) for the stability control of the vehicle. A prototype vehicle is deployed to conduct experiments in order to demonstrate the feasibility and performance of the proposed approach.

Item Type: Article
Uncontrolled Keywords: Agricultural vehicles, Unstructured terrain, Attitude prediction, Genetic algorithm, LIDAR
Divisions: Faculty of Science and Health > Computer Science and Electronic Engineering, School of
Depositing User: Elements
Date Deposited: 19 Jul 2021 14:46
Last Modified: 19 Jul 2021 14:46
URI: http://repository.essex.ac.uk/id/eprint/27644

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