OPTIMAL COVERAGE PATH PLANNING FOR TRACTORS IN HILLY AREAS BASED ON ENERGY CONSUMPTION MODEL

Tao Liu, Junmin Li, Simon X. Yang, Zhidong Gong, Zhi li Liu, Hao Zhong, and Qiang Fu

Keywords

Tractor, path planning, agricultural automatic driving, combinato-rial optimization

Abstract

The conventional planning algorithms cannot solve the complete coverage problem (CPP) in hilly areas well because of the complex shape of farmland, and the existing 3D path planning algorithms mostly ignore the energy consumption in the headland turning area; therefore, there is still much space for improvement in above algorithms. The path planning algorithm for covering hilly and mountainous areas of farmland is presented in this paper, which takes the lowest energy consumption as the objective to plan the coverage path of a single farmland area and records the entrance and exit of each area. Then the “Simulated Annealing with a Hybrid Local Search” is used to obtain the optimal sequence of traversing each field to make an orderly connection between farm- lands. The functional relationship between driving angle and en- ergy consumption in the headland turning area is established in this paper systematically. The experimental results show that the energy consumption of the headland turning area is 9.35% of the total energy consumption, and the minimum energy consumption calculated by considering the headland turning area energy con- sumption is 4% lower than ignored. So, the cost of the headland turning area cannot be neglected when studying the CPP of a single farmland.

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