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Development of an optimized complete infield-path planning algorithm for an autonomous tillage tractor in polygonal paddy field and validation using 3D virtual tractor simulator

文献类型： 会议论文

第一作者： Chan-Woo Jeon

作者： Chan-Woo Jeon 1 ; Hak-Jin Kim 1 ; Changho Yun 1 ;

作者机构： 1.Dept. of Biosystems and Biomaterals Engineering, College of Agriculture and Life Sciences, Seoul National University. Seoul 151-921, Republic of Korea

关键词： Compete infield Path-planning;Paddy field;Auto-guidance tractor;A* star algorithm

会议名称： American Society of Agricultural and Biological Engineers Annual International Meeting

主办单位：

页码： 2899-2912

摘要： Successful utilization of an automated path planning algorithm in paddy fields depends on the ability to generate a full path, including straight and curved paths for agricultural tasks, turning in each row, and ways in and out, in the presence of a disclosed boundary with a structurally fixed entrance by basin irrigation. This study proposes an optimized complete path planning method that enables an autonomous tractor located on the entrance to automatically go to the starting location of an operational path, perform an agricultural task within the field boundary, and return to the exit with minimum travel distance. An operational path was optimally generated by minimizing the total travel distances determined by various driving angles. To find twoadditional paths, i.e., one from the field entrance to the operational starting point, and the other from the operational ending point to the field exit, the A* star algorithm was applied to a 2D occupancy grip map with U-shape obstacle modelled based on the dimension of the tractor and look-ahead distance. Based on the four case studies, the developed path generation algorithm could generate the complete path that guaranteed an optimal solution of an operational path and a sub-optimal solution of theentrance path in terms of travel distance. In validation test via the simulator developed in previous study, the virtual tractor navigated the complete path with acceptable level of non-working area of less than 0.6%.

分类号： S-532

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