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Development of Path Generation Algorithms for Korean Auto-guidance Tillage Tractor
Published by the American Society of Agricultural and Biological Engineers, St. Joseph, Michigan www.asabe.orgCitation: 2012 Dallas, Texas, July 29 - August 1, 2012 121340880.(doi:10.13031/2013.41991)
Authors: XiongZhe Han, Hak-Jin Kim, Heechang Moon, Youngsun Kang, Junghun Kim, Youngjoo Kim
Keywords: Path generation, Auto-duidance, Turning algorithm, Paddy field Minimum turning, Auto-steering
Path planning algorithms applicable to various agricultural operations, such as tillage, planting, and spraying, are needed to generate the guidance lines for auto-guidance tractors. An optimal coverage path algorithm can enable the vehicle to effectively travel the entire field along the path and with parallel paths at a fixed spacing. In addition, it is important to minimize the turning times of the vehicle at headlands to save the working time, especially in relatively small-sized rectangular paddy fields of 100 m x 40 m and 100 m x 100 m. This study reports on the development of path algorithms for an auto-guided Korean tractor with tillage implement to travel in paddy fields. Various turning algorithms, including C-,X-,and R- types, were developed, based on different minimum turn radiuses and other constraints due to a difference in vehicle body and implement dimensions. The direction angles for tractors were generated based on a waypoint tracking technique that uses waypoints and LBOs (Lateral Boundary Offset), which could be employed as an input command in a newly-designed auto-steering control system installed in a Dongyang TX803 tractor. Fundamental test results of using the developed algorithms indicated that the desired path and steering angles were generated with an acceptable level of accuracy.(Download PDF) (Export to EndNotes)