[6-1015-D] Other Categories (3)

[6-1015-D-01] Field Representation and Path Planning for Robot Tractors

*Hao Wang¹, Noboru Noguchi¹ (1. Hokkaido University(Japan))

キーワード：Smart agriculture, Agricultural robots, Path planning, Headland turning, Minimum bounding box

An optimal coverage path planning method is presented to improve field efficiency; and in particular, to fully utilize the advantages provided by automatically guided farming equipment. In addition, several transfer paths are created to optimize the non-working distance and time consumption. To use the merit of agricultural robots, the backward movement along the navigation path is proposed in this research. Refiling or emptying the machine is not considered in this autonomous path planning. When a non-convex field is divided into several convex sub-fields, each sub-area has to be visited once without discard. The algorithm calculates an optimal working direction and order of sub-field to decrease the non-working area. In addition, the navigation path in this study consists of two parts; one is navigation points, which distribute in the area of the farm as an array. The other part is the code indicating the settings of the tractor and the operations at that position. The coding mechanism is informative enough for complex scenarios.