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Agriculture
Volume 15
Issue 11
10.3390/agriculture15111136
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This is an early access version, the complete PDF, HTML, and XML versions will be available soon.
Article

Intelligent Path Tracking for Single-Track Agricultural Machinery Based on Variable Universe Fuzzy Control and PSO-SVR Steering Compensation

by
Huanyu Liu
1,
Zhihang Han
1,
Junwei Bao
2,
Jiahao Luo
1,
Hao Yu
1,
Shuang Wang
1 and
Xiangnan Liu
1,*
1
Institute of Modern Agricultural Equipment, Xihua University, Chengdu 610039, China
2
Inner Mongolia Academy of Agricultural and Animal Husbandry Sciences, Hohhot 010000, China
*
Author to whom correspondence should be addressed.
Agriculture 2025, 15(11), 1136; https://doi.org/10.3390/agriculture15111136
Submission received: 14 April 2025 / Revised: 22 May 2025 / Accepted: 23 May 2025 / Published: 24 May 2025
(This article belongs to the Special Issue Innovative Design and Application of Modern Agricultural Machinery Systems in Cropping Systems)
Review Reports Versions Notes

Abstract

Single-track electric agricultural chassis plays a vital role in autonomous navigation and driving operations in hilly and mountainous regions, where its path tracking performance directly affects the operational accuracy and stability. However, in complex farmland environments, traditional methods often suffer from frequent turning and large tracking errors due to variable path curvature, uneven terrain, and track slippage. To address these issues, this paper proposes a path tracking algorithm combining a segmented preview model with variable universe fuzzy control, enabling dynamic adjustment of the preview distance for better curvature adaptation. Additionally, a heading deviation prediction model based on Support Vector Regression (SVR) optimized by Particle Swarm Optimization (PSO) is introduced, and a steering angle compensation controller is designed to improve the turning accuracy. Simulation and field experiments show that, compared with fixed preview distance and fixed-universe fuzzy control methods, the proposed algorithm reduces the average number of turns per control cycle by 30.19% and 18.23% and decreases the average lateral error by 34.29% and 46.96%, respectively. These results confirm that the proposed method significantly enhances path tracking stability and accuracy in complex terrains, providing an effective solution for autonomous navigation of agricultural machinery.
Keywords: electric tracked agricultural chassis; single-track braking steering; path tracking; variable universe fuzzy control; support vector regression; particle swarm optimization electric tracked agricultural chassis; single-track braking steering; path tracking; variable universe fuzzy control; support vector regression; particle swarm optimization

Share and Cite

MDPI and ACS Style

Liu, H.; Han, Z.; Bao, J.; Luo, J.; Yu, H.; Wang, S.; Liu, X. Intelligent Path Tracking for Single-Track Agricultural Machinery Based on Variable Universe Fuzzy Control and PSO-SVR Steering Compensation. Agriculture 2025, 15, 1136. https://doi.org/10.3390/agriculture15111136

AMA Style

Liu H, Han Z, Bao J, Luo J, Yu H, Wang S, Liu X. Intelligent Path Tracking for Single-Track Agricultural Machinery Based on Variable Universe Fuzzy Control and PSO-SVR Steering Compensation. Agriculture. 2025; 15(11):1136. https://doi.org/10.3390/agriculture15111136

Chicago/Turabian Style

Liu, Huanyu, Zhihang Han, Junwei Bao, Jiahao Luo, Hao Yu, Shuang Wang, and Xiangnan Liu. 2025. "Intelligent Path Tracking for Single-Track Agricultural Machinery Based on Variable Universe Fuzzy Control and PSO-SVR Steering Compensation" Agriculture 15, no. 11: 1136. https://doi.org/10.3390/agriculture15111136

APA Style

Liu, H., Han, Z., Bao, J., Luo, J., Yu, H., Wang, S., & Liu, X. (2025). Intelligent Path Tracking for Single-Track Agricultural Machinery Based on Variable Universe Fuzzy Control and PSO-SVR Steering Compensation. Agriculture, 15(11), 1136. https://doi.org/10.3390/agriculture15111136

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