Obstacle avoidance path planning for autonomous navigation agricultural machinery

LIU Yufeng; JI Changying; TIAN Guangzhao; GU Baoxing; WEI Jiansheng; CHEN Kai

doi:10.7671/j.issn.1001-411X.201909010

Journal of South China Agricultural University > 2020 > 41(2): 117-125. > DOI: 10.7671/j.issn.1001-411X.201909010

LIU Yufeng, JI Changying, TIAN Guangzhao, et al. Obstacle avoidance path planning for autonomous navigation agricultural machinery[J]. Journal of South China Agricultural University, 2020, 41(2): 117-125. DOI: 10.7671/j.issn.1001-411X.201909010

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Obstacle avoidance path planning for autonomous navigation agricultural machinery

1.
College of Engineering, Nanjing Agricultural University, Nanjing 210031, China
2.
College of Instrument Science and Engineering, Southeast University, Nanjing 210096, China

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Received Date: September 05, 2019
Available Online: May 17, 2023

Graphical Abstract

Abstract

Abstract

Objective
To realize static obstacle avoidance of autonomous navigation agricultural machinery when it operates in the field.

Method
Two path planning algorithms of obstacle avoidance were proposed under known working environment. The single obstacle avoidance algorithm was proposed based on the movement rule of agricultural machinery and according to the position and the size of the obstacle. On the basis of the single obstacle avoidance algorithm, according to the size of safe driving area, the double/multiple obstacles avoidance algorithm was proposed according to left and right obstacle avoiding strategies.

Result
When the single obstacle was located in different locations and the speed of agricultural machinery was 0.3 m·s⁻¹, compared with L algorithm, driving path reduced by 35%, 26%; Accumulative error of driving path reduced by 53%, 82%; Variance reduced by 64%, 66%. When the driving speed was 0.5 m·s⁻¹, driving path reduced by 38%, 22%; Accumulative error reduced by 66%, 26%; Variance reduced by 41%, 71%. When the speed of agricultural machinery was 0.3 and 0.5 m·s⁻¹ under the condition of multiple obstacles, accumulative tracking errors of driving path was 9.99, 4.13 m, and variances were 0.022 1, 0.027 0 m², respectively.

Conclusion
The proposed algorithm has some advantages in driving path, accumulative error of driving path, stability of theoretical path tracking and adaptability to road condition.
- autonomous navigation agricultural machinery,
- multiple obstacles,
- path planning,
- accumulative error,
- driving path

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References (27)

References

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Obstacle avoidance path planning for autonomous navigation agricultural machinery