Study on Path Planning in Cotton Fields Based on Prior Navigation Information

Meng Wang, Changhe Niu, Zifan Wang, Yongxin Jiang, Jianming Jian and Xiuying Tang ()
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Meng Wang: College of Engineering, China Agricultural University, Beijing 100083, China
Changhe Niu: Research Institute of Agricultural Mechanization, Xinjiang Academy of Agricultural Sciences, Urumqi 830091, China
Zifan Wang: College of Engineering, China Agricultural University, Beijing 100083, China
Yongxin Jiang: Research Institute of Agricultural Mechanization, Xinjiang Academy of Agricultural Sciences, Urumqi 830091, China
Jianming Jian: College of Engineering, China Agricultural University, Beijing 100083, China
Xiuying Tang: College of Engineering, China Agricultural University, Beijing 100083, China

Agriculture, 2024, vol. 14, issue 11, 1-20

Abstract: Aiming at the operation scenario of existing crop coverage and the need for precise row alignment, the sowing prior navigation information of cotton fields in Xinjiang was used as the basis for the study of path planning for subsequent operations to improve the planning quality and operation accuracy. Firstly, the characteristics of typical turnaround methods were analyzed, the turnaround strategy for dividing planning units was proposed, and the horizontal and vertical operation connection methods were put forward. Secondly, the obstacle avoidance strategies were determined according to the traits of obstacles. The circular arc–linear and cubic spline curve obstacle avoidance path generation methods were proposed. Considering the dual attributes of walking and the operation of agricultural machinery, four kinds of operation semantic points were embedded into the path. Finally, path generation software was designed. The simulation and field test results indicated that the operation coverage ratio C R ≥ 98.21% positively correlated with the plot area and the operation distance ratio D R ≥ 86.89% when non-essential reversing and obstacles were ignored. C R and D R were negatively correlated with the number of obstacles when considering obstacles. When considering non-essential reversing, the full coverage of operating rows could be achieved, but D R would be reduced correspondingly.

Keywords: agricultural machinery path planning; sowing navigation information; turnaround; obstacle avoidance; prior semantic map (search for similar items in EconPapers)
JEL-codes: Q1 Q10 Q11 Q12 Q13 Q14 Q15 Q16 Q17 Q18 (search for similar items in EconPapers)
Date: 2024
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