applied

sciences
Article
Automatic Steering Control Algorithm Based on
Compound Fuzzy PID for Rice Transplanter
Junnan Yin, Dequan Zhu *, Juan Liao * , Guangyue Zhu, Yao Wang and Shun Zhang
College of Engineering, Anhui Agricultural University, Hefei 230036, China
* Correspondence: zhudequan@ahau.edu.cn (D.Z.); liaojuan@ahau.edu.cn (J.L.); Tel.: +86-139-5609-4571 (D.Z.);
+86-177-5510-8602 (J.L.)




Received: 24 May 2019; Accepted: 27 June 2019; Published: 30 June 2019


Abstract: In order to realize automatic steering controls of rice transplanters in paddy fields, an
automatic steering control algorithm is essential. In this study, combining the fuzzy control with the
proportional-integral-derivative (PID) control and the kinematics model, a compound fuzzy PID
controller was proposed to adjust the real time data of the PID parameters for the automatic steering
control. The Kubota SPU-68C rice transplanter was then modified with the new controller. Next,
an automatic steering control experimental with the modified transplanter was carried out under
two conditions of linear tracking and headland turning in verifying the automatic steering effect of
the transplanter in different steering angle situations. The results showed that the deviation with
the new controller and the modified transplanter was acceptable, with maximum deviation in linear
tracking of 7.5 cm, the maximum headland turning a deviation of 11.5 cm, and the average a deviation
of less than 5 cm. In conclusion, within the allowable deviation range of the field operation of the
rice transplanter, the proposed algorithm successfully realized automatic steering controls of the
transplanter under different steering angles.

Keywords: rice transplanter; automatic steering; pure pursuit model; compound fuzzy PID

1. Introduction
With the development of computers, automatic control, intelligent agricultural equipment
technologies, and automatic navigation technology has received increased attention in the field of
intelligent agricultural machinery [1,2]. The automatic steering control system in navigation is a key
step in providing support for subsequent navigation control [3,4]. Many different control methods
have been developed for the automatic control system, including the pure pursuit model [5–8],
the proportional-integral-derivative (PID) control [9,10], the fuzzy control [11–13], and the neural
network [14–17]. Among these, the pure pursuit model is the most commonly used approach for the
automatic control. The main aim of the pure pursuit model was to establish a dynamic model which
considers the steering angle as the control variable [18,19]. When accurate mathematical models are
not available, another option is to design a controller based on the PID control, the fuzzy control, and
the neural network to realize automatic steering controls for agricultural machines.
In order to improve the automatic operation level and realize automatic steering controls for rice
transplanters, much research has been done. Nagasaka et al. [20] developed an automatic steering
method for a rice transplanter, which includes path tracking and steering with a fixed front wheel
angle. This method occupies small headland space; however, it needs to be reversed when headland
turning. However, the steering control was complicated and the work efficiency was low. To simplify
the steering control structure, a new ground steering control algorithm, based on the Kubota SPU-60
rice transplanter, was proposed [21]. This algorithm applies a two-wheeler model to dynamically
plan a steering path and adjust the reverse stance, which is without position feedback and reverse

Appl. Sci. 2019, 9, 2666; doi:10.3390/app9132666 www.mdpi.com/journal/applsci

Appl. Sci. 2019, 9, 2666 2 of 14

Appl. Sci. 2019, 9, x FOR PEER REVIEW 2 of 14

steering; however, the steering control accuracy is not high. In 2011, Xu [22] designed a fuzzy controller
and established an automatic steering control method based on the fuzzy control to improve steering
controller and established an automatic steering control method based on the fuzzy control to
control accuracy. The fuzzy controller takes the rotation angle deviation and deviation change rate as
improve steering control accuracy. The fuzzy controller takes the rotation angle deviation and
inputs and the motor frequency as the output. This method can meet the needs of the agricultural
deviation change rate as inputs and the motor frequency as the output. This method can meet the
machinery operation, but the stepper motor will drift, which will affect the control precision. To solve
needs of the agricultural machinery operation, but the stepper motor will drift, which will affect the
this problem, a PD (proportional-derivative) controller was introduced to build an automatic steering
control precision. To solve this problem, a PD (proportional-derivative) controller was introduced to
control method [23], in which P and D parameters are adjusted online, according to the traveling
build an automatic steering control method [23], in which P and D parameters are adjusted online,
speed of the agricultural machine, and the desired steering angle of the steering wheel is the output of
according to the traveling speed of the agricultural machine, and the desired steering angle of the
the controller. It has good control performance, high stability, and fast response speed, though the
steering wheel is the output of the controller. It has good control performance, high stability, and fast
parameter acquisition is more difficult.
response speed, though the parameter acquisition is more difficult.
However, it is difficult to establish an accurate mathematical model and acquire parameters for
However, it is difficult to establish an accurate mathematical model and acquire parameters for
the mentioned controllers above, due to the nonlinear and time-varying characteristics of the steering
the mentioned controllers above, due to the nonlinear and time-varying characteristics of the steering
system
system of of rice
rice transplanters
transplanters and and thethe complex
complex operating
operating environment.
environment. The The PID
PID controller
controller has
has the
the
advantages
advantages of ofaasimple
simpleprinciple,
principle,a aconvenient
convenient operation,
operation, strong adaptability,
strong andand
adaptability, highhigh
robustness, and
robustness,
its
andcontrol quality
its control is insensitive
quality to changes
is insensitive in the
to changes incontrolled object.
the controlled WithWith
object. thesethese
characteristics, the PID
characteristics, the
controller is very suitable for agricultural machine operating in a complex
PID controller is very suitable for agricultural machine operating in a complex environment. The environment. The fuzzy
controller does not
fuzzy controller neednot
does to establish
need to an accurateanmathematical
establish model, making
accurate mathematical model,control mechanisms
making control
and strategies easy to accept and understand, and has high robustness
mechanisms and strategies easy to accept and understand, and has high robustness and and self-adjustability [24,25].
self-
Therefore,
adjustability an[24,25].
automatic steering
Therefore, ancontrol
automaticalgorithm
steeringwas presented
control algorithm by taking full advantage
was presented by takingof full
the
fuzzy control and the PID control. Firstly, the kinematics analysis of the transplanter
advantage of the fuzzy control and the PID control. Firstly, the kinematics analysis of the transplanter was carried out,
combining
was carriedwith out,the fuzzy control,
combining with thethe PID
fuzzycontrol andthe
control, the PID
kinematics
controlmodel,
and the a compound
kinematicsfuzzy
model,PIDa
controller was designed, with the appropriate PID control parameters able
compound fuzzy PID controller was designed, with the appropriate PID control parameters able to to be selected in real time.
Then, the steering
be selected in real actuators
time. Then, of the
the steering
experimental platform
actuators of thewere modified, platform
experimental and the simulations and field
were modified, and
experiments were carried out in verifying the feasibility of the compound fuzzy
the simulations and field experiments were carried out in verifying the feasibility of the compound PID control system.
The
fuzzysimulations
PID controland field experimental
system. The simulations results showexperimental
and field that the compound fuzzy that
results show PIDthecontroller
compound has
good automatic steering tracking performance and control effect, which satisfies
fuzzy PID controller has good automatic steering tracking performance and control effect, which the field performance
requirements of the
satisfies the field transplanter.
performance requirements of the transplanter.
2. Materials and Methods
2. Materials and Methods
2.1. Automatic Steering Experimental Platform
2.1. Automatic Steering Experimental Platform
The Kubota SPU-68C rice transplanter was chosen as a research object in this study. The modular
designThe Kubota
was used SPU-68C
to modifyrice
thetransplanter
experimentalwas chosenwithout
platform as a research objectthe
changing in this study.
original The modular
structure of the
design was used to modify the experimental platform without changing the original structure of the
transplanter steering system. The modified experimental platform is shown in Figure 1, which includes
transplanter steering system. The modified experimental platform is shown in Figure 1,
a rice transplanter body, a Beidou high-precision differential positioning system, and an automaticwhich
includessystem.
steering a rice transplanter body, a Beidou high-precision differential positioning system, and an
automatic steering system.

Figure
Figure 1.1. Automatic
Automatic steering
steering control
control experimental
experimental platform. (1) Navigation
platform. (1) controller; (2)
Navigation controller; (2) reference
reference
station; (3) base station antenna; (4) automatic steering system; (5) steering servo motor;
station; (3) base station antenna; (4) automatic steering system; (5) steering servo motor; (6) (6) antenna of
antenna
the movable
of the movable station; (7) (7)
station; steering angle
steering sensor
angle of the
sensor front
of the wheel.
front wheel.

The Beidou high-precision differential positioning system consists of a base station and a mobile
station. The base station includes one receiver, one measurement antenna, and one radio
Appl. Sci. 2019, 9, 2666 3 of 14

The Beidou high-precision differential positioning system consists of a base station and a
Appl. Sci. 2019,
mobile 9, x FOR
station. ThePEER REVIEW
base station includes one receiver, one measurement antenna, and one 3radio
of 14

communication module. The mobile station contains one receiver, two measurement antennas, and
communication module. The mobile station contains one receiver, two measurement antennas, and
one radio communication module. The base station provides a reference coordinate signal to the
one radio communication module. The base station provides a reference coordinate signal to the
mobile station through the radio communication module. The navigation controller was composed of a
mobile station through the radio communication module. The navigation controller was composed
host computer PC (personal computer) and a lower computer STM32 (Stmicroelectronics 32-bit series)
of a host computer PC (personal computer) and a lower computer STM32 (Stmicroelectronics 32-bit
single chip development board. The compound fuzzy PID automatic steering algorithm was stored in
series) single chip development board. The compound fuzzy PID automatic steering algorithm was
the host computer, and the lower computer was connected with the automatic steering system and a
stored in the host computer, and the lower computer was connected with the automatic steering
wheel angle measuring sensor. The navigation controller makes processing decisions according to the
system and a wheel angle measuring sensor. The navigation controller makes processing decisions
position and angle information outputted by the Beidou positioning system and the front wheel angle
according to the position and angle information outputted by the Beidou positioning system and the
sensor. The compound fuzzy PID controller sent a control signal to the automatic steering system in
front wheel angle sensor. The compound fuzzy PID controller sent a control signal to the automatic
realizing the automatic steering of the rice transplanter. The automatic steering system was a modified
steering system in realizing the automatic steering of the rice transplanter. The automatic steering
automatic steering actuator, as shown in Figure 2. The servo motor and the gear pair are mounted on
system was a modified automatic steering actuator, as shown in Figure 2. The servo motor and the
the modified automatic steering actuator on the rice transplanter to drive the original steering wheel
gear pair are mounted on the modified automatic steering actuator on the rice transplanter to drive
shaft. The perform structure can realize the coexistence of a manual and automatic operation and has
the original steering wheel shaft. The perform structure can realize the coexistence of a manual and
the characteristics of a compact structure, high transmission efficiency, low installation cost, and fast
automatic operation and has the characteristics of a compact structure, high transmission efficiency,
response speed. The main parameters of the navigation hardware for the experimental platform are
low installation cost, and fast response speed. The main parameters of the navigation hardware for
shown in Table 1.
the experimental platform are shown in Table 1.

Figure Actuator of
2. Actuator
Figure 2. of the
the automatic
automatic steering
steering system.
system. (1)
(1) Steering
Steering wheel
wheel of
of the
the transplanter;
transplanter; (2)
(2) steering
steering
axle
axle gear;
gear; (3)
(3) output
output axle
axle gear;
gear; (4)
(4) reducer;
reducer; (5)
(5) servo
servo motor;
motor; (6)
(6) motor
motor bracket;
bracket; (7)
(7) absolute
absolute encoder.
encoder.
Table 1. Parameters of the navigation hardware for the experimental platform.
Table 1. Parameters of the navigation hardware for the experimental platform.
Name Component Type Number Parameter
Name Component Type Number Parameter
Positioning receiver C201 2
Beidou high-precision ±2 cm, ±0.5◦
Beidoupositioning
differential high- system Positioning receiver
Measuring antenna C201 2 3
(precision)
Radio communication module 2 ±2cm, ±0.5°
precision differential Measuring antenna 3
Navigation controller
Host computer PC 1 (precision)
positioning system Radio communication module
Lower computer STM32 2 1
microcontroller
Host computer PC 1
Servo motor RE50 1 30 Nm (Torque)
Navigation controller Lower Reducer
computer STM32 GP52C 1 i = 1/91
Automatic steering system Driver EPOS2 70/10 1 1 (transmission ratio)
microcontroller i = 1/2
Gear pair 1
Servo motor RE50 1 30(transmission
Nm (Torque) ratio)
Front wheel angle Rongwei ◦
0 ~360 ◦
Reducer
Absolute encoder GP52C 1 1 i = 1/91 (transmission
Automatic steering
measuring sensor Technology (working range)
Driver EPOS2 70/10 1 ratio)
system
i = 1/2 (transmission
Gear pair 1
ratio)
Front wheel angle Rongwei 0°~360° (working
Absolute encoder 1
measuring sensor Technology range)
Appl. Sci. 2019, 9, 2666 4 of 14

Appl. Sci. 2019, 9, x FOR PEER REVIEW 4 of 14

2.2. Analysis of Kinematics of Rice Transplanter
2.2. Analysis of Kinematics of Rice Transplanter
The working environment of the agricultural machine is complex and varied, especially the
The working
operation environmentenvironment
of the riceoftransplanter
the agricultural
in the machine is complex
paddy field. To simplifyandthe
varied, especially
kinematics modelthe of
operation environment of the rice transplanter in the paddy field. To simplify the kinematics
the vehicle, the transplanter wheel was regarded as a rigid wheel, regardless of the slip between the model
of the vehicle,
wheel the transplanter
and the ground. According wheel was regarded
to Kelly’s simplifiedastwo-wheel
a rigid wheel, regardless
kinematic modelof[26],
the the
slipmotion
between of
the rice
wheel and the ground.
transplanter According
was simplified to Kelly’s simplified
to a two-dimensional planetwo-wheel
motion. Thekinematic model
pure pursuit model[26], thea
was
motion
geometricof the rice transplanter
principle-based was simplified
calculation method,towhich
a two-dimensional
can be used toplane motion.
calculate The pure
the curved pursuit
trajectory
model
of the was a geometric
vehicle moving principle-based
from the currentcalculation
position to method, which
the target can[27].
point be used
Thetomodel
calculate the curved
is simple and
trajectory of the vehicle
intuitive, without movingthe
considering from the current
dynamic modelposition to the target
of the vehicle in thepoint [27]. The
calculation modelTherefore,
process. is simple
and intuitive, without
we established considering
a pure pursuit modelthe dynamic
of the model based
transplanter of theonvehicle in the calculation
a two-wheel process.
model, as shown in
Therefore,
Figure 3, andweanalyzed
established
theakinematics
pure pursuit model
of the of the transplanter based on a two-wheel model, as
transplanter.
shown in Figure 3, and analyzed the kinematics of the transplanter.

Figure
Figure 3.
3. The
The pure
pure pursuit
pursuit model
model of
of the
the transplanter.
transplanter.

In Figure 3, X–O–Y is
In is the
the geodetic
geodetic coordinate
coordinate system,system, and andYYVV–O–OVV–XVV is is the
the rice
rice transplanter
transplanter
coordinate system. XVVand andYYVVcorrespond
correspondtotothe theabscissa
abscissaaxis axisandandordinate
ordinateaxis,
axis,respectively.
respectively. The The red
red
line indicates the kinematic
kinematic model
model of oftwo-wheeler
two-wheelerofofthe therice
ricetransplanter,
transplanter,and and point
pointGG is is
thethecenter
centerof
gravity
of gravityof of
thethe
two-wheeler
two-wheeler model.
model.The Thedotted
dottedlinelineisisthethepredefined
predefined driving
driving path,path, and the starting
point is
point is at
atpoint
pointG. G.ρρisisthe
theturning
turningcurvature
curvature ofofthethericerice transplanter;
transplanter; ρ >ρ0 > is 0the
is curvature
the curvature of the ofrice
the
rice transplanter
transplanter whenwhen turningturning counterclockwise,
counterclockwise, and ρand < 0 isρ<the0 is the curvature
curvature of the of ricethe rice transplanter
transplanter when
when turning
turning clockwise.
clockwise. R is theR isinstantaneous
the instantaneous turningturning radius
radius of the
of the rice
rice transplanter.ddisisthe
transplanter. the lateral
lateral
deviation of
deviation of the
the actual position of the rice transplanter from the desired path; d <
actual position < 00 means
means that the
actual position is is on
on the
the left
leftof
ofthe
thedesired path,d d>>00denotes
desiredpath, denotesthat thatthe
theactual
actualposition
position is is
onon thetheright of
right
the desired path. L is the look-ahead distance of the rice transplanter in the
of the desired path.d Ld is the look-ahead distance of the rice transplanter in the pure pursuit model, pure pursuit model, in
which
in whichthethe
distance
distancecan can
be regarded
be regardedas theasempirical
the empirical value obtained by imitating
value obtained the manual
by imitating driving
the manual
driving θ is the θ
method.method. heading deviation
is the heading betweenbetween
deviation the current the position of the rice
current position of transplanter and the path
the rice transplanter and
to the
the pathtarget
to theposition. M is the M
target position. center
is theofcenter
the riceof transplanter moving moving
the rice transplanter along the curve
along theofcurve
the turning
of the
arc. Φ isarc.
turning theΦ heading change angle
is the heading changeofangle
the rice transplanter
of the when rotating
rice transplanter around around
when rotating the center, the M, and
center,
M, and reaching
reaching the target the target position
position along thealong thearc.
turning L is the
turning arc. L is the wheelbase
wheelbase between the between
wheels the beforewheels
and
before
after ofand
the after of the rice transplanter.
rice transplanter.
In accordance with the geometric relationship relationship shown shown in in Figure
Figure3,3,thethecoordinates
coordinates(X (XVQ VQ,, Y
YVQ
VQ)) of

the target point Q in the YVV–O –OVV–X

–XVVcoordinate
coordinatesystem
systemwere weredefined
definedasasfollows:
follows:
1 1 1 coscos
Φ− Φ 1− 1
X VQ1 =
XVQ = cosρΦ − Φ −=ρ =
cos (1)
(1)
ρ ρ ρρ

1 1
YVQY= = sin ΦΦ
sin (2)
(2)
VQ ρ
ρ
In the right triangle ΔPOVQ, the look-ahead distance and the coordinate value of the target point
Q (XVQ, YVQ) satisfy the following relation:
Appl. Sci. 2019, 9, 2666 5 of 14

In the right triangle ∆POV Q, the look-ahead distance and the coordinate value of the target point
Q (XVQ , YVQ ) satisfy the following relation:

2 2
XVQ + YVQ = L2d (3)

According to Equations (1)–(3), the curvature ρ of the rice transplanter was calculated as follows:

XVQ
ρ = −2 (4)
Ld

Automatic steering is aimed at obtaining the desired rotation angle of the front wheel because
of the rice transplanter with front wheel steering. Based on the pure pursuit model in Figure 3, the
desired rotation angle and turning radius of the front wheel of the rice transplanter satisfy the following
relationship:
δ = arctan(Lρ) (5)

where L denotes the front and rear wheelbase of the rice transplanter and δ indicates the desired angle
of the front wheel.
According to the geometric relationship shown in Figure 3, Equation (1) could be rewritten as:
q
XVQ = −d cos θ + L2d − d2 sin θ (6)

Under Equation (6), Equation (4) was rewritten as:

 q 
2 d cos θ − L2d − d2 sin θ
ρ= (7)
Ld

Combining with Equations (5) and (7), the desired rotation angle of the front wheel of the rice
transplanter in the pure pursuit model could be calculated as follows:
 q 
2L d cos θ − L2d − d2 sin θ
δ = arctan (8)
Ld

3. Design of the Automatic Steering Control Algorithm

To enable the rice transplanter to follow the target path, it was ensured that the deviation between
the actual driving path and the target path was minimized. Thus, the automatic steering system not
only needed to grasp the current pose information of the rice transplanter accurately, but also realize
the accurate steering. From the analysis of the kinematics model, the lateral deviation of the vehicle is
caused by the heading angle, and there is a certain relationship between the change of front wheel
angle and the heading angle. It can be concluded that tracking the control angle in real-time, based on
the change of the front wheel angle, is the key to realize the automatic steering of the rice transplanter.

3.1. The Compound Fuzzy PID Control Algorithm

In an automatic steering control system, the control method plays a vital role in the overall control
system. In this study, the PID control and fuzzy control theory were combined to design a compound
fuzzy PID controller. The fuzzy controller is used to adjust the proportional, integral, and differential
parameters of the PID online. The adaptive adjustment of the control system parameters can well adapt
to the working environment. The schematic diagram of the compound fuzzy PID control is shown
in Figure 4. First, the desired steering angle δ of the automatic steering front wheel was obtained,
and the difference between the angle δ and the actual rotation angle was calculated, that is, the front
wheel rotation angle deviation e. Second, the deviation conversion rate ec = de/dt was calculated. When
Appl. Sci. 2019, 9, 2666 6 of 14

e > 10◦ , the fuzzy controller was used to quickly adjust the deviation; when e ≤ 10◦ , the compound
Appl.
fuzzy Sci.PID
2019,controller
9, x FOR PEER
wasREVIEW
used to precisely adjust the front wheel angle [27]. 6 of 14

de ec Control
Pose dt signal 1
information Pure Fuzzy controller
δ e
pursuit
model e ＞10°
Look-ahead Automatic
distance Servo
ΔKp ΔKi ΔKd steering
motor
actuator
Control
e ≤10° signal 2
PID controller
Feedback

Composite fuzzy PID controller

Front wheel angle sensor

Principlediagram
Figure4.4.Principle
Figure diagramofofcompound
compoundfuzzy
fuzzyproportional-integral-derivative
proportional-integral-derivative(PID)
(PID)controller.
controller.

As shown in Figure 4, the front wheel angle deviation e and the deviation change rate ec were
As shown in Figure 4, the front wheel angle deviation e and the deviation change rate ec were
taken as inputs of the compound fuzzy PID controller. The PID parameters ∆Kp , ∆K , and ∆K are
taken as inputs of the compound fuzzy PID controller. The PID parameters ΔKp, ΔKii, and ΔKdd are
outputs of the controller. The PID parameters were adaptively adjusted online by the fuzzy inference
outputs of the controller. The PID parameters were adaptively adjusted online by the fuzzy inference
method, which can meet different requirements of the different deviation e and the deviation change
method, which can meet different requirements of the different deviation e and the deviation change
rate ec, so that the controlled object achieves the quantitative dynamic and static performance.
rate ec, so that the controlled object achieves the quantitative dynamic and static performance.
According to the compound fuzzy PID control principle, the compound fuzzy PID controller
According to the compound fuzzy PID control principle, the compound fuzzy PID controller
could be defined as follows:
could be defined as follows:
k
ek (k) + Kd0 (k) + ∆Kd (k) × [e(k) − e(k − 1)]
    P  
u(k) = Kp0 (k) + ∆Kp (k) × e(k) + Ki0 (k) + ∆Ki (k) ×
( ) ( ) (
u(k) = Kp0 (k) +ΔKp (k) ×e(k) + Ki0 (k) +ΔKi (k)n=×0e(k) + Kd0 (k) +ΔKd (k) ×[ e(k) −e(k −1)]
n=0
) (9)
(9)

where Kp0 , K , and Kd0 are the initial set values of the PID parameters and ∆Kp , ∆Ki , and ∆Kd are the
where Kp0, Ki0i0
, and Kd0 are the initial set values of the PID parameters and ΔKp, ΔKi, and ΔKd are the
three outputs of the compound fuzzy PID controller.
three outputs of the compound fuzzy PID controller.
3.2. Control Variable Fuzzification and Membership Function
3.2. Control Variable Fuzzification and Membership Function
As mentioned above, the front wheel angle deviation e and the deviation change rate ec are inputs,
As mentioned ∆K above, the front wheel angle deviation e and the deviation change rate ec are
and the parameters p , ∆Ki , and ∆Kd are outputs. In this study, the conventional PID parameters were
inputs, and by
determined theanparameters
experimental ΔKtrial
p, ΔKi, and ΔKd are outputs. In this study, the conventional PID
and error method. Through closed-loop operation or simulation,
parameters were determined
the response curve of the system was by an observed,
experimental trialparameters
and the and errorweremethod. Through
repeatedly closed-loop
tested, according
operation or simulation, the response curve of the system was observed,
to the influence of each parameter on the system. The PID control parameters were determined and the parameters were
repeatedly tested, according to the influence of each parameter on the system.
until a satisfactory response occurred, which were set as the initial parameters, Kp0 , Ki0 , and Kd0 , The PID control
parameters
of the compound were determined until a satisfactory
fuzzy PID controller. response
The appropriate occurred,
fuzzy domain which wereselected,
was then set as the initial
based on
parameters, K p0, Ki0, and Kd0, of the compound fuzzy PID controller. The appropriate fuzzy domain
the parameters, and the parameters ∆Kp , ∆Ki , and ∆Kd of the compound fuzzy PID control were
was then selected,
determined by thebasedfuzzyoncontroller
the parameters, and the
in real time. parameters
Based on the ΔK p, ΔKi, and ΔKd of the compound
fuzzy control theory, the input and
fuzzy PID control were determined
output variables were fuzzified as follows [27]:by the fuzzy controller in real time. Based on the fuzzy control
theory, the input and output variables were fuzzified as follows [27]:
• Front wheel angle deviation e. The basic domain is: [−30◦ , 30◦ ], the quantification domain is: {−6,
•−4, −2,
Front0, 2,wheel
4, 6} =angle
{NB,deviation
NM, NS, ZO, e. The
PS,basic
PM, domain
PB}, andis:
the[−30°, 30°], the factor
quantization quantification
is: 6/30 =domain
0.2;
is: {−6, −4, −2, 0, 2, 4, 6} = {NB, NM, NS, ZO, PS, PM, PB}, and the quantization factor is: 6/30
• Steering angle deviation change rate ec. The basic domain is: [−6, 6], the quantification domain is:
= 0.2;
{−6, −4, −2, 0, 2, 4, 6} = {NB, NM, NS, ZO, PS, PM, PB}, and the quantization factor is: 6/6 = 1;
• Steering angle deviation change rate ec. The basic domain is: [−6, 6], the quantification
• Proportional parameter ∆Kp . The basic domain is: [−10, 10], the quantification domain is: {−3, −2,
domain is: {−6, −4, −2, 0, 2, 4, 6} = {NB, NM, NS, ZO, PS, PM, PB}, and the quantization factor
−1, 0, 1, 2, 3} = {NB, NM, NS, ZO, PS, PM, PB}, and the quantization factor is: 3/10 = 0.3;
is: 6/6 = 1;
• Integration parameter ∆Ki . The basic domain is: [−8, 8], the quantification domain is: {−3, −2, −1,
• Proportional parameter ΔKp. The basic domain is: [−10, 10], the quantification domain is:
0, 1, 2, 3} = {NB, NM, NS, ZO, PS, PM, PB}, and the quantization factor is: 3/8 = 0.375;
{−3, −2, −1, 0, 1, 2, 3} = {NB, NM, NS, ZO, PS, PM, PB}, and the quantization factor is: 3/10 =
0.3;
• Integration parameter ΔKi. The basic domain is: [−8, 8], the quantification domain is: {−3, −2,
−1, 0, 1, 2, 3} = {NB, NM, NS, ZO, PS, PM, PB}, and the quantization factor is: 3/8 = 0.375;
Appl. Sci. 2019, 9, 2666 7 of 14
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• Differential parameter ∆Kd . The basic domain is: [−6, 6], the quantification domain is: {−3, −2, −1,
• Differential parameter ΔKd. The basic domain is: [−6, 6], the quantification domain is: {−3,
0, 1, 2, 3} = {NB, NM, NS, ZO, PS, PM, PB}, and the quantization factor is: 3/6 = 0.5;
−2, −1, 0, 1, 2, 3} = {NB, NM, NS, ZO, PS, PM, PB}, and the quantization factor is: 3/6 = 0.5;
With
With thethehigh
high sensitivity
sensitivity of triangular
of triangular membership
membership function,function,
they werethey wereas selected
selected as the
the membership
membership
function function
of the of the input
input variables, variables,
including including
e and ec andethe
andoutput
ec and variables
the output∆Kvariables ΔKp,∆K
p , ∆Ki , and ΔKd .i, The
and
ΔKd. Themembership
triangle triangle membership functions corresponding
functions corresponding toand
to the input the output
input and outputare
variables variables
shown inareFigure
shown 5.
in Figure 5.

(a) (b)
Figure 5.
Figure 5. Input
Input and output variable
and output variable membership
membership function:
function: (a)
(a) Membership
Membership function
function of
of the input
the input
variables e, ec; (b)
variables (b) membership
membership function
function of
of the
the output variables ∆K
output variables ∆Kii,, and
ΔKpp,, ΔK ∆Kd.d .
and ΔK

3.3. Compound Fuzzy

3.3. Compound Fuzzy PID
PID Control
Control Rules
Rules
In
In the
the compound
compound fuzzy
fuzzy PID
PID controller,
controller, the
the interaction
interaction between
between three
three parameters
parameters and and their
their
influences
influences on
on other
other parameters
parameters must
must be
be considered.
considered. The
The tuning
tuning requirements
requirements ofof ∆K
ΔKpp,, ∆K and ∆K
ΔKii,, and ΔKdd
under different deviations |e| and deviation change rate |ec| are as follows [27]:
under different deviations |e| and deviation change rate |ec| are as follows [27]:
• •
When |e| is a|e|
When small
is avalue,
small to maintain
value, good steady-state
to maintain performance
good steady-state of the ∆K
of the system,
performance ∆Kpi
p and ΔK
system,
shouldandbeΔK seti should
as largerbevalues, and the
set as larger values, of ∆K
value and d depends
the value ofonΔK|ec|. When |ec|
d depends on is small,
|ec|. ∆Kd|ec|
When takes
is
a larger value,
small, ΔKdwhereas ∆Kd should
takes a larger value, take a smaller
whereas value to
ΔKd should avoid
take oscillation
a smaller valueoftothe system.
avoid oscillation
• When of|e|
the a medium value, to reduce the overshoot of the system, the values of ∆Kp and ∆Ki
is system.
•
shouldWhen |e| is a medium
be smaller, and the value,
value of ∆Kd should
to reduce the overshoot of the system,
be appropriate to speedtheupvalues of ΔKp and
the response of
ΔKi should be smaller, and the value of ΔKd should be appropriate to speed up the response
the system.
• Whenof|e|theis asystem.
large value, to quickly reduce the system error and increase the reflection speed, the
•∆Kp value
Whenshould |e| is abelarge
larger; ∆Ki istooften
value, quickly reduce
set to the system
0 to avoid error and
the differential increase the caused
oversaturation reflection
by
speed, the ΔK
the instantaneous increase the |e| value.
p valueofshould be larger; ΔKi is often set to 0 to avoid the differential
oversaturation caused by the instantaneous increase of the |e| value.
According to the tuning requirements above, the fuzzy control rules for PID control parameters
wereAccording
designed, as to shown
the tuning requirements
in Tables 2–4. above, the fuzzy control rules for PID control parameters
were designed, as shown in Tables 2–4.
Table 2. ∆Kp fuzzy control rule.
Table 2. ΔKp fuzzy control rule.
ec
∆Kp ec
ΔKp NB NM NS ZO PS PM PB
NB NM NS ZO PS PM PB
NB PB PB PM PM PS ZO ZO
NB PB PB PM PM PS ZO ZO
NM PB PB PM PS PS ZO NS
NS NMPM PB PMPB PM
PM PSPS PS ZOZO NS
NS NS
e ZO NSPM PM PMPM PS
PM PSZO ZO NSNS NM
NS NM
PS ZOPS PM PSPM ZO
PS ZONS NS NSNM NM
NM NM
e
PM PS ZO NS NM NM NM NB
PB PSZO PS ZOPS ZO
NM NSNM NS NMNM NM
NB NB
PM PS ZO NS NM NM NM NB
PB ZO ZO NM NM NM NB NB
Appl. Sci. 2019, 9, 2666 8 of 14

Table 3. ∆Ki fuzzy control rule.

ec
∆Ki
NB NM NS ZO PS PM PB
NB NB NB NM NM NS ZO ZO
NM NB NB NM NS NS ZO ZO
NS NB NM NS NS ZO PS PS
e ZO NM NM NS ZO PS PM PM
PS NM NS ZO PS PS PM PB
PM ZO ZO PS PS PM PB PB
PB ZO ZO PS PM PM PB PB

Table 4. ∆Kd fuzzy control rule.

ec
∆Kd
NB NM NS ZO PS PM PB
NB PS NS NB NB NB NM PS
NM PS NS NB NM NM NS ZO
NS ZO NS NM NM NS NS ZO
e ZO ZO NS NS NS NS NS ZO
PS ZO ZO ZO ZO ZO ZO ZO
PM PB NS PS PS PS PS PB
PB PB PM PM PM PS PS PB

According to the compound fuzzy PID control rule established above in Tables 2–4, the dynamic
tunings of ∆Kp , ∆Ki , and ∆Kd were obtained. The proportional, integral, and differential parameters of
the PID controller, Kp , Ki , and Kd , could then be calculated by the following Equation (10):

Kp = Kp0 + ∆Kp
Ki = Ki0 + ∆Ki (10)
Kd = Kd0 + ∆Kd

where Kp0 , Ki0 , and Kd0 are the initial set values of the PID parameters.

4. Simulation Analysis
To verify the feasibility of the compound fuzzy PID automatic steering control algorithm, the
simulation model of automatic steering control for the rice transplanter was established in MATLAB.
The simulation model is shown in the Figure 6. In the simulation process, the front wheel rotation
angle deviation e = 10◦ was set as the demarcation point, and the simulation analysis was performed
when e = 8◦ and e = 25◦ [27], so that the compound fuzzy PID controller could adjust the parameters
∆Kp , ∆Ki , and ∆Kd in real-time. The step signal response curves of the front wheel rotation angle
deviation of 8◦ and 25◦ are as shown in Figure 7, respectively.
Appl. Sci. 2019, 9, 2666 9 of 14
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Figure 6.
6. Compound fuzzy
fuzzy PID control
control simulation diagram.
diagram.
Figure 6. Compound
Figure Compound fuzzy PID
PID control simulation
simulation diagram.

(a)
(a) (b)
(b)
Figure 7.
7. Step signal
signal response curve:
curve: (a) Simulation
Simulation curve at
at 8°;
◦ (b) simulation
simulation curve at
at 25°.
◦
Figure 7. Step
Figure Step signalresponse
response curve: (a)
(a) Simulation curve
curve at88°;; (b)
(b) simulation curve
curve at 25
25°..

The simulation
The simulation analysiswhen when thefrontfront wheelrotation
rotation angle deviation ◦ 8°
e isee 8is 25◦25°
and is shown
The simulationanalysis
analysis whenthe the frontwheel wheel rotation angle
angle deviation
deviation and
is 8° and is shown
25° in
is shown
in Table
Table 5.
5. When
in Table
When
5. When
the
thethe front
front wheel
wheel
front wheel
rotation
rotation
rotation
angle
angle
angle
deviation
deviation
deviatione=e = ◦
25°,
e =2525°,
the
, the response
theresponse
responsetime
time
timeof
of the
ofthe
compound
thecompound
compound
fuzzy PID
fuzzy PID control
control was
was reduced
reduced by by 0.23
0.23 s compared
compared with with the traditional
traditional PID control,
control, and and the overshoot
overshoot
fuzzy PID control was reduced by 0.23 s compared with the traditional PID control, and the overshoot
was reduced
was reducedfromfrom3.5 ◦ to
3.5° to1.6
1.6°. When ee = 8°,
◦ . When 8 ◦ , the
the response
response time
time was reduced by 0.14 s and the maximum maximum
was reduced from 3.5° to 1.6°. When e = 8°, the response time was reduced by 0.14 s and the maximum
overshootwas
overshoot was reducedfrom from 0.4° ◦ to 0.2 ◦ It is noted that the compound fuzzy PID controller can speed
0.2°. speed
overshoot wasreducedreduced from0.4 0.4°to
to 0.2°.. It is noted that the compound fuzzy PID controller controller can speed
up the
up the response
response speedspeed ofof the
the system,
system, reduce
reduce the the overshoot,
overshoot, and
and quickly
quickly reach
reach aa steady
steady state,
state, and
and the
the
up the response speed of the system, reduce the overshoot, and quickly reach a steady state, and the
control
control effect is better.
controleffect
effectisisbetter.
better.
Table 5. Performance
Table 5. Performance comparison
comparison of
of control
control algorithms.
algorithms.
Table 5. Performance comparison of control algorithms.
e e Controller
Controller Response Process
Response ProcessOvershoot
OvershootResponse
Response Time Stable Time
Time Stable Time
e Controller Response Process Overshoot Response Time Stable Time
Compound
Compound fuzzyfuzzy
PID PID StrictStrict monotony
monotony 0.2 ◦ 0.2° 0.34
0.34 s s 0.52
0.52 s
8◦ 8° Compound fuzzy PID Strict monotony ◦
0.2° 0.34 s 0.52ss
8° Traditional PID
Traditional PID Attenuation oscillation
Attenuation oscillation 0.4 0.4° 0.48 s
0.48 s 1.05 s
1.05 s
Traditional PID Attenuation oscillation 0.4° 0.48 s 1.05 s
Compound
Compound fuzzyfuzzy
PID PID SlightSlight
shock shock 1.6 ◦ 1.6° 0.45
0.45 s s 0.94
0.94 ss
◦
25 25° Compound fuzzy PID Slight shock ◦ 1.6° 0.45 s 0.94 s
25° Traditional PID PID Attenuation
Traditional oscillation
Attenuation oscillation3.5 3.5° 0.68 s s
0.68 1.85
1.85ss
Traditional PID Attenuation oscillation 3.5° 0.68 s 1.85 s

5. Field Experimental Results and Discussion

5.
5. Field Experimental Results and Discussion
5.1.
5.1. Field Experimental Scheme
5.1. Field Experimental Scheme
The
The field
field experiment
experiment was
was conducted
conducted at at the
the Guohe
Guohe Experimental
Experimental Base Base ofof Anhui
Anhui Agricultural
Agricultural
The field experiment was conducted at the Guohe Experimental Base of Anhui Agricultural
University.
University. The depth of
of the paddy soil was approximately 20 cm. The rice transplanter automatic
the paddy soil was approximately 20 cm. The rice transplanter automatic
University. The depth of the paddy soil was approximately 20 cm. The rice transplanter automatic
navigation
navigation field
field experiment
experiment is
is shown
shown inin Figure
Figure 8. 8. To
To evaluate
evaluate thethe accuracy
accuracy of of the
the automatic
automatic steering
steering
navigation field experiment is shown in Figure 8. To evaluate the accuracy of the automatic steering
control
control and
and robustness
robustness of
of headland
headland turning,
turning, thethe field
field experimental
experimental tests
tests included
included both
both linear
linear tracking
tracking
control and robustness of headland turning, the field experimental tests included both linear tracking
and
and headland
headlandturning.
turning.As
Asshown
shownininFigure
Figure 9, 9,
fourfourparallel
parallelpredefined
predefined paths withwith
paths a length of 50ofm50
a length and
m
and headland turning. As shown in Figure 9, four parallel predefined paths with a length of 50 m
an
andinterval of 1.8of
an interval m1.8
were
m set,
were namely A1 B1 , A12BB12, ,AA23BB2,3A
set, namely , and
3B3, A4 B4A
and , which werewere
4B4, which recorded as path
recorded as 1, path
path 1,
and an interval of 1.8 m were set, namely A1B1, A2B2, A3B3, and A4B4, which were recorded as path 1,
path 2, path 3, and path 4. Before conducting the autonomous driving experiment, the maximum
path 2, path 3, and path 4. Before conducting the autonomous driving experiment, the maximum
Appl. Sci. 2019, 9, 2666 10 of 14

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2, path 3, and path 4. Before conducting the autonomous driving experiment, the maximum steering
steering angle, the net turning radius, and the maximum working width were measured as 45°, 1.0
angle, theangle,
steering net turning
the net radius,
turningand the maximum
radius, workingworking
and the maximum width were
widthmeasured as 45◦ , 1.0
were measured as m,
45°,and
1.0
m, and 1.80 m, respectively, by manually driving the rice transplanter. During the autonomous
1.80 m, respectively,
m, and by manually
1.80 m, respectively, driving thedriving
by manually rice transplanter. During the During
the rice transplanter. autonomous navigation
the autonomous
navigation operation, when the rice transplanter started to move from the point A1, the initial lateral
operation,
navigationwhen the rice
operation, whentransplanter started to move
the rice transplanter started from the point
to move fromAthe
1 , the initial
point A1, lateral deviation
the initial lateral
deviation was +10 cm and the heading angle deviation was +3°. The compound fuzzy PID controller
was +10 cm and the heading angle deviation was +3 ◦ . The compound fuzzy PID
deviation was +10 cm and the heading angle deviation was +3°. The compound fuzzy PID controller controller calculated
calculated the required steering angle in real-time and sent a steering command to the automatic
the requiredthe
calculated steering angle
required in real-time
steering angleand sent a steering
in real-time command
and sent to the
a steering automatictosteering
command system
the automatic
steering system to realize automatic steering control. The experimental data, such as the pose
to
steering system to realize automatic steering control. The experimental data, such as thespeed,
realize automatic steering control. The experimental data, such as the pose information, pose
information, speed, heading, lateral deviation, and heading deviation of the transplanter, were saved
heading, lateral
information, deviation,
speed, heading, and heading
lateral deviation
deviation, andofheading
the transplanter,
deviationwere
of thesaved in real-time.
transplanter, were saved
in real-time.
in real-time.

Figure 8. Field experiment of automatic navigation operation.

Figure 8.
Figure 8. Field
Field experiment
experiment of
of automatic
automatic navigation
navigation operation.
operation.

Figure 9. Autonomous navigation predefined path.

Figure 9. Autonomous navigation predefined path.
5.2. Analysis of ExperimentalFigure
Results9. Autonomous navigation predefined path.
5.2. Analysis of Experimental Results
Figure 10a
5.2. Analysis shows straight
of Experimental tracking experimental results, where the red line is the actual trajectory.
Results
Figure 10a shows
The corresponding straight
lateral error and tracking
heading experimental results, where
error were calculated the deviation
and their red line iscurves
the actual
were
Figure 10a shows straight tracking experimental results, where the red line is the actual
trajectory.
shown The corresponding
in Figure lateralFrom
10b,c, respectively. errorthe
and headingcurves,
deviation error were
it can calculated
be seen that andthetheir
curvesdeviation
started
trajectory. The corresponding lateral error and heading error were calculated and their deviation
curves
out were shown
by fluctuating inthen
and Figure 10b,c,
tended to respectively.
be stable when From the deviationtracked
the transplanter curves,the
it path
can be seena that
along the
straight
curves were shown in Figure 10b,c, respectively. From the deviation curves, it can be seen that the
curves started
trajectory. Theout by fluctuating
lateral deviation and and the
thenheading
tended deviation,
to be stablerespectively,
when the transplanter
fluctuatedtracked
aroundthe0 atpath
the
curves started out by fluctuating and then tended to be stable when the transplanter tracked the path
along a straight
maximum cm and 3◦The
of 7.50trajectory. . Thelateral
averagedeviation and the heading
lateral deviations deviation,
of the tracking respectively,
path fluctuated
1, path 2, path 3, and
along a straight trajectory. The lateral deviation and the heading deviation, respectively, fluctuated ◦,
around
path 0 at for
4 were the3maximum
cm, 2 cm, 2ofcm,7.50
and cm2 cm,
and respectively,
3°. The average lateral
and the deviations
average heading of deviations
the tracking path
were 1.91,
around
◦ ◦0 at the maximum
◦ of 7.50 cm and 3°. The average lateral deviations of the tracking path 1,
path, 1.8
1.8 2, path
, and3,1.7
and, respectively,
path 4 were forwhich3 cm, 2 cm,meet
could 2 cm, and
the 2 cm, respectively,
agronomic requirementsandofthe average
rice heading
transplanting.
path 2, path 3, and path 4 were for 3 cm, 2 cm, 2 cm, and 2 cm, respectively, and the average heading
deviations were 1.9°, 1.8°, 1.8°, and 1.7°, respectively, which could meet the agronomic requirements
deviations were 1.9°, 1.8°, 1.8°, and 1.7°, respectively, which could meet the agronomic requirements
of rice transplanting.
of rice transplanting.
Appl. Sci. 2019, 9, 2666 11 of 14
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(a)

(b)

(c)
Figure 10.
Figure 10. Straight tracking
Straight results:
tracking (a) Straight
results: track;track;
(a) Straight (b) lateral
(b) deviation curve; (c)curve;
lateral deviation heading
(c)deviation
heading
curve.
deviation curve.

In the
In the field
fieldheadland
headlandturning
turningexperiment,
experiment,the theturning
turningradius
radius ofof
thethe transplanter
transplanter waswassetset to 1.20
to 1.20 m.
m. Figure
Figure 11 shows
11 shows the headland
the headland turningturning curve.
curve. The The transplanter
transplanter automatically
automatically turned inturned in the
the headland
headland
of the paddy of the paddy
field when field whentoit the
it drove drove endtopoints,
the endsuchpoints,
as Bsuch
1 , A2as B1, A
, and B23,,and B3, ofpredefined
of three three predefined
paths.
paths.
As shownAs shown
in Figurein Figure
11, the 11, the tracking
tracking curve fluctuated
curve fluctuated greatlygreatly when turning
when turning and tendedand tended to be
to be stable
stableheadland
after after headland
turning.turning.
During During
headland headland
turning, turning,
the lateral thedeviation
lateral deviation and thedeviation
and the heading heading
deviation fluctuated
fluctuated around 0 at around 0 at the maximum
the maximum of 11.5 cm ofand 5◦ ,cm
11.5 and 5°, respectively.
respectively. The average The average
lateral lateral
deviation
deviation
was 4 cm andwasthe4 cm and the
average average
heading headingwas
deviation ◦
deviation
2 . Most was 2°. Most
of the of thewere
deviations deviations
causedwere by thecaused
large
by the large
slippage of theslippage of the rice
rice transplanter transplanter
when turning atwhen turning at
the headland of the paddy
headland of According
field. the paddytofield. the
According
field to the field
experimental experimental
results, results,
the automatic the automatic
steering steeringwith
control system control system with
the proposed the proposed
algorithm has a
algorithm
high trackinghasaccuracy
a high tracking accuracy
and sufficient and sufficient
robustness to meet robustness to meet therequirements
the field performance field performance
of the
requirements
rice transplanter.of the rice transplanter.
Appl. Sci. 2019, 9, 2666 12 of 14
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Figure11.
Figure 11. Tracking
Trackingcurve
curveof
ofthe
theheadland
headlandturning.
turning.

6.
6. Conclusions
Conclusion
In
Inthe
themanuscript,
manuscript, an anautomatic
automatic steering
steering control
control algorithm,
algorithm, based
based on on the
thecompound
compound fuzzy fuzzy PID
PID
control,
control,combining
combiningthe thefuzzy
fuzzy control,
control,thethe PID
PID control
control and
and the
the kinematics
kinematics model
model of a rice transplanter,
transplanter,
was
was proposed,
proposed, and a compound
compound fuzzy fuzzyPID PIDcontroller
controllerwas
wasdeveloped.
developed.This This controller
controller cancan adjust
adjust the
the
PIDPID control
control parameters
parameters in real-time
in real-time in the
in the fuzzyfuzzy domain,
domain, whichwhich
can can
make make the compound
the compound fuzzyfuzzy
PID
PID controller
controller output
output thethe bestbest controlvariables.
control variables.The
Theautomatic
automaticsteering
steering experimental
experimental platform was was
modified according to the compound fuzzy PID controller. Simulations and
modified according to the compound fuzzy PID controller. Simulations and field experiments were field experiments were
performed
performedtotoverify
verifythetheeffectiveness
effectiveness of the
of automatic steering
the automatic control
steering system.system.
control The experimental results
The experimental
showed that the that
results showed maximum lateral deviations
the maximum of the linear
lateral deviations of thetracking and headland
linear tracking turningturning
and headland were 7.5were
cm
and 11.5 cm, and the average lateral deviation was less than 5 cm; the maximum
7.5 cm and 11.5 cm, and the average lateral deviation was less than 5 cm; the maximum heading heading deviation
was 3◦ andwas
deviation 5◦ and the5°
3° and average
and theheading
averagedeviation was within
heading deviation was2◦ .within
Both the2°. lateral
Both the deviation and the
lateral deviation
heading deviation were within the allowable deviation range of field operation for
and the heading deviation were within the allowable deviation range of field operation for the rice the rice transplanter.
In conclusion,In
transplanter. theconclusion,
compoundthe fuzzy PID control-based
compound fuzzy PID automatic
control-basedsteering algorithm
automatic developed
steering algorithmin
this study can
developed realize
in this the can
study automatic
realizesteering controlsteering
the automatic of the transplanter
control of the at different
transplantersteering angles,
at different
effectively reduce
steering angles, the lateral
effectively deviation
reduce and deviation
the lateral heading deviation
and heading of the rice transplanter
deviation during the
of the rice transplanter
automatic
during thenavigation
automatic process,
navigation which is beneficial
process, which istobeneficial
improve to theimprove
control the
precision
controlofprecision
the automatic
of the
navigation, and can satisfy
automatic navigation, and thecanagronomic
satisfy therequirements of the field operation
agronomic requirements of the fieldof the rice transplanter.
operation of the rice
transplanter.
Author Contributions: Methodology, J.Y.; Data Curation J.Y., J.L. and Y.W.; Validation, J.Y., J.L. and Y.W.; Resources,
G.Z. and Contributions:
Author S.Z.; Writing—Original Draft Preparation,
Methodology, J.Y.; Data J.Y.; Writing—Review
Curation J.Y, J.L. andand Editing,
Y.W.; J.Y., J.L. J.Y,
Validation, and J.L.
D.Z.;and
Funding
Y.W.;
Acquisition, D.Z. and S.Z.; Writing–Original Draft Preparation, J.Y.; Writing–Review and Editing, J.Y, J.L. and
Resources, G.Z.
D.Z.; Funding
Funding: This Acquisition, D.Z.
work was supported by the National Key Research and Development Program of China (No.
2018YFD0700304), the Natural Science Fund of Anhui Province (No. 1708085QF148) and the Science Foundation
Funding:
of This work was
Anhui Agricultural supported
University (No.by the National Key Research and Development Program of China (No.
2016ZR008).
2018YFD0700304), the Natural Science Fund of Anhui Province (No. 1708085QF148) and the Science Foundation
Acknowledgments: This work was supported by the National Project on Transformation of Agricultural Scientific
of Anhui Agricultural University (No. 2016ZR008).
and Technological Achievements No. 2014C30000162.
Acknowledgments:
Conflicts Thisauthors
of Interest: The work was supported
declare by ofthe
no conflict National Project on Transformation of Agricultural
interest.
Scientific and Technological Achievements No. 2014C30000162.
References
Conflicts of Interest: The authors declare no conflict of interest.
1. Zhang, M.N.; Lu, X.L.; Tao, J.P.; Yin, W.Q.; Feng, X.B. Design and experiment of automatic guidance control
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