Research on Tractor Optimal Obstacle Avoidance Path Planning for Improving Navigation Accuracy and Avoiding Land Waste
Obstacle avoidance operations of tractors can cause parts of land to be unavailable for planting crops, which represents a reduction in land utilization. However, land utilization is significant to the increase in agricultural productivity. Traditional obstacle avoidance path planning methods mostly...
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| Format: | Article |
| Language: | English |
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MDPI AG
2023-04-01
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| Series: | Agriculture |
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| Online Access: | https://www.mdpi.com/2077-0472/13/5/934 |
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| author | Hongtao Chen Hui Xie Liming Sun Tansu Shang |
| author_facet | Hongtao Chen Hui Xie Liming Sun Tansu Shang |
| author_sort | Hongtao Chen |
| collection | DOAJ |
| description | Obstacle avoidance operations of tractors can cause parts of land to be unavailable for planting crops, which represents a reduction in land utilization. However, land utilization is significant to the increase in agricultural productivity. Traditional obstacle avoidance path planning methods mostly focus on automatic tractor navigation with small errors, ignoring the decrease in land utilization due to obstacle avoidance operations. To address the problem, this paper proposed an obstacle avoidance path planning method based on the Genetic Algorithm (GA) and Bezier curve. In this paper, a third-order Bezier curve was used to plot the obstacle avoidance path, and the range of control points for the third-order Bezier curve was determined according to the global path and the location of the obstacle. To target the navigation error and land utilization problems, GA was used to search for the optimal point from the selection range of the control point under multiple constraints for automatic tractor navigation such as the obstacle collision avoidance, the minimum turning radius, and the maximum turning angle. Finally, the optimal obstacle avoidance path was determined based on the selected control points to minimize the navigation error and maximize land utilization. The algorithm proposed in this paper was compared with existing methods and the results showed that it has generally favorable performance on obstacle avoidance path planning. |
| first_indexed | 2024-03-11T04:02:39Z |
| format | Article |
| id | doaj.art-62c20cb3f8a4417eabf74ce7f5be3c49 |
| institution | Directory Open Access Journal |
| issn | 2077-0472 |
| language | English |
| last_indexed | 2024-03-11T04:02:39Z |
| publishDate | 2023-04-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Agriculture |
| spelling | doaj.art-62c20cb3f8a4417eabf74ce7f5be3c492023-11-18T00:01:22ZengMDPI AGAgriculture2077-04722023-04-0113593410.3390/agriculture13050934Research on Tractor Optimal Obstacle Avoidance Path Planning for Improving Navigation Accuracy and Avoiding Land WasteHongtao Chen0Hui Xie1Liming Sun2Tansu Shang3School of Mechanical Engineering, Tianjin University, Tianjin 300350, ChinaSchool of Mechanical Engineering, Tianjin University, Tianjin 300350, ChinaState Key Laboratory of Intelligent Agricultural Power Equipment, Luoyang 471039, ChinaState Key Laboratory of Intelligent Agricultural Power Equipment, Luoyang 471039, ChinaObstacle avoidance operations of tractors can cause parts of land to be unavailable for planting crops, which represents a reduction in land utilization. However, land utilization is significant to the increase in agricultural productivity. Traditional obstacle avoidance path planning methods mostly focus on automatic tractor navigation with small errors, ignoring the decrease in land utilization due to obstacle avoidance operations. To address the problem, this paper proposed an obstacle avoidance path planning method based on the Genetic Algorithm (GA) and Bezier curve. In this paper, a third-order Bezier curve was used to plot the obstacle avoidance path, and the range of control points for the third-order Bezier curve was determined according to the global path and the location of the obstacle. To target the navigation error and land utilization problems, GA was used to search for the optimal point from the selection range of the control point under multiple constraints for automatic tractor navigation such as the obstacle collision avoidance, the minimum turning radius, and the maximum turning angle. Finally, the optimal obstacle avoidance path was determined based on the selected control points to minimize the navigation error and maximize land utilization. The algorithm proposed in this paper was compared with existing methods and the results showed that it has generally favorable performance on obstacle avoidance path planning.https://www.mdpi.com/2077-0472/13/5/934tractorobstacle avoidance path planninggenetic algorithmBezier curve |
| spellingShingle | Hongtao Chen Hui Xie Liming Sun Tansu Shang Research on Tractor Optimal Obstacle Avoidance Path Planning for Improving Navigation Accuracy and Avoiding Land Waste Agriculture tractor obstacle avoidance path planning genetic algorithm Bezier curve |
| title | Research on Tractor Optimal Obstacle Avoidance Path Planning for Improving Navigation Accuracy and Avoiding Land Waste |
| title_full | Research on Tractor Optimal Obstacle Avoidance Path Planning for Improving Navigation Accuracy and Avoiding Land Waste |
| title_fullStr | Research on Tractor Optimal Obstacle Avoidance Path Planning for Improving Navigation Accuracy and Avoiding Land Waste |
| title_full_unstemmed | Research on Tractor Optimal Obstacle Avoidance Path Planning for Improving Navigation Accuracy and Avoiding Land Waste |
| title_short | Research on Tractor Optimal Obstacle Avoidance Path Planning for Improving Navigation Accuracy and Avoiding Land Waste |
| title_sort | research on tractor optimal obstacle avoidance path planning for improving navigation accuracy and avoiding land waste |
| topic | tractor obstacle avoidance path planning genetic algorithm Bezier curve |
| url | https://www.mdpi.com/2077-0472/13/5/934 |
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