Focusing on the problems of big overshoot and long convergence time due to the large initial heading error, a new path tracking control strategy for autonomous harvesting robots based on improved double arc path planning is designed. Firstly, the improved double arc path planning algorithm includes global path planning and local planning. The shortest path distance is taken as the goal, so the optimal tangent arc path from the initial point to the reference straight line can be automatically planned by the global path planning. Due to the problems such as control delay in harvesting robot, the global path cannot be effectively tracked. By analyzing the influence of the non-mutable steering angle and control delay on path tracking, a new local path planning algorithm is proposed. Then, the two preview points obtained in global planning can be optimized dynamically, and the actual reliability of the algorithm can be enhanced. Secondly, the error compensation model is designed to compensate the installation error of the positioning antenna in real time, to satisfy the simplified condition of the two-wheeled vehicle model. Finally, by combining the large angle steering control method and the pure pursuit algorithm, a new hybrid control strategy is designed to solve the steering angle, and the path tracking function of harvesting robots is realized. Experiment results demonstrate that the hybrid control strategy can reduce the oscillation of driving path, enhance the convergence, then, improve working quality and efficiency of robots.

针对初始航向误差大，超调量大，收敛时间长的问题，设计了一种基于改进的双弧路径规划的自主收割机器人路径跟踪控制策略。首先，改进的双弧路径规划算法包括全局路径规划和局部规划。以最短路径距离为目标，因此可以通过全局路径规划自动规划从初始点到参考直线的最佳切线弧形路径。由于收割机器人的控制延迟等问题，无法有效跟踪全局路径。通过分析不可改变的转向角和控制延迟对路径跟踪的影响，提出了一种新的局部路径规划算法。然后，动态优化全局规划中得到的两个预览点，可以提高算法的实际可靠性。其次，设计误差补偿模型，实时补偿定位天线的安装误差，以满足两轮车模型的简化条件。最后，结合大角度转向控制方法和纯跟踪算法，设计了一种新的混合控制策略来求解转向角，实现了收割机器人的路径跟踪功能。实验结果表明，混合控制策略可以减少驱动路径的振荡，提高收敛性，从而提高机器人的工作质量和效率。误差补偿模型旨在实时补偿定位天线的安装误差，以满足两轮车模型的简化条件。最后，结合大角度转向控制方法和纯跟踪算法，设计了一种新的混合控制策略来求解转向角，实现了收割机器人的路径跟踪功能。实验结果表明，混合控制策略可以减少驱动路径的振荡，提高收敛性，从而提高机器人的工作质量和效率。误差补偿模型旨在实时补偿定位天线的安装误差，以满足两轮车模型的简化条件。最后，结合大角度转向控制方法和纯跟踪算法，设计了一种新的混合控制策略来求解转向角，实现了收割机器人的路径跟踪功能。实验结果表明，混合控制策略可以减少驱动路径的振荡，提高收敛性，从而提高机器人的工作质量和效率。通过将大角度转向控制方法与纯追赶算法相结合，设计了一种新的混合控制策略来求解转向角，并实现了收割机器人的路径跟踪功能。实验结果表明，混合控制策略可以减少驱动路径的振荡，提高收敛性，从而提高机器人的工作质量和效率。通过将大角度转向控制方法与纯追赶算法相结合，设计了一种新的混合控制策略来求解转向角，并实现了收割机器人的路径跟踪功能。实验结果表明，混合控制策略可以减少驱动路径的振荡，提高收敛性，从而提高机器人的工作质量和效率。