Abstract
Unmanned driving technology for agricultural vehicles is pivotal in advancing modern agriculture towards precision, intelligence, and sustainability. Among agricultural machinery, autonomous driving technology for agricultural tractor-trailer vehicles (ATTVs) has garnered significant attention in recent years. ATTVs comprise large implements connected to tractors through hitch points and are extensively utilized in agricultural production. The primary objective of current research focus on autonomous driving technology for tractor-trailers is to enable the tractor to follow a reference path while adhering to constraints imposed by the trailer, which may not always align with agronomic requirements. To address the challenge of path tracking for ATTVs, this paper proposes a fuzzy back-stepping path tracking controller based on the kinematic model of ATTVs. Initially, the path tracking kinematic error model was established with the trailer as the positioning center in the Frenet coordinate system using the velocity decomposition method. Then, the path tracking controller was designed using the back-stepping algorithm to calculate the target front wheel steering angle of the tractor. The gain coefficient was adaptively adjusted through a fuzzy algorithm. Co-simulation and experiments were conducted using MATLAB/Simulink/CarSim and a physical platform, respectively. Simulation results indicated that the proposed controller reduced the trailer's online time by 36.33%. When following a curved path, the trailer's tracking error was significantly lower than that of the Stanley controller designed for a single tractor. In actual experiments, while tracking a U-turn path, the proposed controller reduced the average absolute value of the trailer's path tracking lateral error by 65.27% and the maximum lateral error by 87.54%. The mean absolute error (MAE) values for lateral error and heading error were 0.010 and 0.016, respectively, while the integral of absolute error (IAE) values were 1.989 and 2.916, respectively. The proposed fuzzy back-stepping path tracking controller effectively addresses the practical challenges of ATTV path tracking. By prioritizing the path tracking performance of the trailer, the quality and efficiency of ATTVs during field operations are enhanced. The significant reduction in tracking errors and online time demonstrates the effectiveness of the proposed controller in improving the accuracy and efficiency of ATTVs.