Full coverage path planning for wheeled machine rotary tillage operation based on Dubins curve
A Dubins curve based full coverage path planning algorithm(CCPP)for rotary tillage operations of wheeled machines was proposed for autonomous operation on unmanned farms.The shuttle method was used to divide the CCPP algorithm into two parts:normal operation planning and sealing operation planning,after shrinking the boundary of the work plot.The calculated CCPP was represented by key control points(entry and exit points).Finally,the Dubins curve was used to fit the key control points to obtain the shortest operating path point that met the vehicle kinematics.And according to different forms of operation and agronomic requirements,speed information,machine status information,and current heading angle information were planned at each path point to meet the overall function realization of autonomous operation.The experimental results showed that the algorithm achieved a coverage rate of over 95%under common convex plots,meeting agricultural requirements.The research results indicatd that this algorithm could plan the full coverage path from a triangular plot to a decagonal plot under a convex plot based on different work tool parameters and vehicle kinematic parameters.
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万方数据
维普
