Complete Coverage Path Planning Method for Automatic Operation of Agricultural Machinery with Obstacle Avoidance Function
Aiming at the problem of complete coverage path planning for automatic operation of agricultural machinery and vehicles under different sizes and types of obstacles,this paper proposes a static complete coverage path planning method and a path optimization scheme.Operation direction,working row spacing,field turning area and turning mode were de-termined by rectangular field information,obstacle information,minimum turning radius of agricultural machinery and im-plement width,and the algorithm is optimized according to the obstacle shape and the requirement of high coverage rate and high operation path ratio to achieve better operation effect.The software simulation test results show that the optimized algorithm can improve the coverage rate by 0.11％and reduce the repetition rate by 0.71％for the fields with small rec-tangular obstacles.For fields with large rectangular obstacles,the coverage rates of the two types of paths are 89.24％and 98.08％respectively,and the repetition rates are 3.53％and 2.84％respectively.The research results show that the algo-rithm can improve the utilization rate of the field and reduce the operation cost,and can effectively deal with large and small obstacles while meeting the requirements of high coverage and low repetition rate of field operations.
万方数据
维普
