An on-line path planning algorithm for automated tractor steering control in greenfield farming is proposed that follows points localized on the ground, and therefore utilizes structures provided by the environment, for orientation. Points marking a swath of hay are detected using a laser rangefinder mounted on the tractor cabin. The tractor is then steered along the path so that a trailer meets the swath at its centre position. Even in the presence of outliers, the presented planning method computes the polynomial path coefficients to be used for issuing commands to the tractor. The methodology employs a multi-step initialization procedure and robust iterative optimization.


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    Title :

    Path Planning for Semi-autonomous Agricultural Vehicles



    Published in:

    Reinventing Mechatronics ; Chapter : 4 ; 35-53


    Publication date :

    2020-01-15


    Size :

    19 pages




    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    English




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