Research on Agricultural Machinery Operation Path Planning for Irregular Fields in Hilly Areas

Chao Deng; Kui Deng; Tianpeng Zheng

doi:10.6911/WSRJ.202604_12(4).0011

Authors

Chao Deng
Kui Deng
Tianpeng Zheng

DOI:

https://doi.org/10.6911/WSRJ.202604_12(4).0011

Keywords:

Hilly area, Irregular plots, Agricultural machinery operation, Path planning, Turning number optimization.

Abstract

Aiming at the problems of complex shape of irregular fields, frequent turning of agricultural machinery operation and low operation efficiency in hilly and mountainous areas, a path planning method of agricultural machinery operation based on minimum turning times was proposed. Firstly, the field boundary model is constructed by using Gauss-Kruger projection and grid method, and the irregular fields are divided into convex polygons, concave polygons and complex polygons according to the theory of computer graphics. Secondly, the field classification is realized by concave and convex judgment and polygon subdivision, and the safe operation area is constructed on this basis. Then, the simulated annealing algorithm is used to search the best operation direction, the operation angle is determined with the minimum number of turns as the optimization goal, and the reciprocating straight path is generated based on the active side table method. Finally, combined with the constraints such as the minimum turning radius of agricultural machinery, the turning decision model is constructed to realize the complete operation path planning. The simulation results of typical hilly fields show that the proposed method can achieve more than 90 % operation coverage in different types of irregular fields and effectively reduce the number of turns, which has good applicability and practical value.

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