Research on 4WS Agricultural Machine Path Tracking Algorithm Based on Fuzzy Control Pure Tracking Model

This paper presents a path tracking algorithm based on fuzzy control pure model for autonomous navigation of 4WS agricultural machines. The aim this research is to implement unmanned machinery and solve the problem difficult determination forward-looking distances in algorithms. By using controller, converts heading deviation lateral one cycle into sum as first input controller vehicle travel speed second thus outputting actual distance. In order verify practicality, accuracy, precision proposed algorithm, straight-line test under variable conditions turning non-fixed distance were carried out platform after simulation MATLAB/Simulink paper. results show that: process, maximum overshoot 0.123 m, stable driving, part 0.058 m steady-state 0.039 m; bow-turn absolute value driving trajectory farm machine from desired 0.139 average 0.041 m. It can be seen that has good accuracy well convergence, meet demand function machinery, which certain application value.