MODELING AND ANALYSIS OF AN AGRICULTURAL VEHICLE CROSS-BOUNDARY WARNING SYSTEM

Abstract

In order to improve the safety of agricultural vehicle in the field, we established a vehicle kinematics model for hanging agricultural tools, and comprehensively considered driving speed, the agricultural tool rotation radius, and vehicle movement trend to propose an agricultural vehicle field operation cross- boundary warning method based on a Robot Operating System (ROS). Furthermore, we designed a set of agricultural vehicle safety warning systems and employed Qt Creator to develop the agricultural vehicle warning system operation interface. Following this, a test platform was built based on the Oubao 4040 tractor and unilateral cross-boundary warning tests were conducted. Test results demonstrate the ability of the proposed cross-boundary warning system to: i) correctly determine the warning area at different speeds (low (3.6km/h±0.5km/h), medium (10.8km/h±1.0km/h) and high (18.0km/h±1.5km/h)) and driving paths ("V" and "U"-shaped routes); ii) and to prompt the operator in a timely manner. The proposed framework exhibits strong applicability and improves the safety of agricultural vehicle hanging agricultural tools