| 摘要: |
| 为合理设计拖拉机在地头作业时的最佳路径，采用车辆运动学模型，应用最优控制理论，设计了单体拖拉机利用前进挡工作时在进行地头转弯的最佳路径，并用VC＋＋进行了编程。程序运行结果表明，其计算时间短，能够保证拖拉机自动行驶控制中的实时要求。 |
| 关键词: 自动行走拖拉机 地头转弯 最优控制 路径设计 |
| DOI： |
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| 基金项目:西北农林科技大学人才基金项目(01140501);西北农林科技大学科研专项(05ZR085) |
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| Optimal turning track for tractor at turn-row |
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| Abstract: |
| In order to design the optimal track of tractor working in the field,the automobile kinematics model and optimal control theory were used in the design of optimal turning track for the single moving tractor in forward gear at turn-row.The optimal turning track design was programmed by computer language VC++.The results showed that calculation was prompt,which could meet the real needs of self-steering tractor. |
| Key words: self-steering tractor turning at turn-row optimal control track design |
