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Original paper: Path planning for in-field navigation-aiding of service units

Authors:

C. G. Sørensen,

S. G. VougioukasAuthors Info & Claims

Computers and Electronics in Agriculture, Volume 74, Issue 1

Pages 80 - 90

https://doi.org/10.1016/j.compag.2010.06.008

Published: 01 October 2010 Publication History

Abstract

Agricultural field operations, such as seeding, harvesting, spraying, and fertilizing, are typically carried out by multi-machinery systems comprising one or more self-propelled or tractor-pulled units, and one or more service - mainly transport - units. The operation of a service unit must be carefully planned because its execution efficiency can significantly affect the productivity of the whole system. In this paper, an algorithmic approach for the generation of optimal in-field paths to be followed by service units, was developed and demonstrated. Both stationary and on-the-go unloading operations are supported. The approach was based on an abstraction of a field as a two-dimensional grid, with each grid cell representing obstacle, free, initial, or goal region. By defining also the action spaces of the grid states (service unit moves one cell up, down, left, or right), the arcs and nodes of a discrete transition graph are created and by using a graph search algorithm the optimal path is generated. A number of simulated experiments were performed in order to demonstrate the paths that result from invoking the above-mentioned planning method. The algorithmic path generation can provide the basis for a navigation tool dedicated to service units, which can increase the overall field efficiency of the operations executed by cooperating machines and reduce the adverse effects of the heavy machine traffic on the soil. The low computational requirements of the proposed method make it feasible as an implementation of the optimal planning for large scale operations executed by cooperative machines.

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Cited By

Chen TSeok Ahn HSun WPan JLiu YCheng JXu L(2024)Optimizing path planning for a single tracked combine harvesterComputers and Electronics in Agriculture10.1016/j.compag.2024.109217224:COnline publication date: 1-Sep-2024
https://dl.acm.org/doi/10.1016/j.compag.2024.109217
Makhdomi AGillani I(2023)Towards a Greener and Fairer Transportation System: A Survey of Route Recommendation TechniquesACM Transactions on Intelligent Systems and Technology10.1145/362782515:1(1-57)Online publication date: 19-Dec-2023
https://dl.acm.org/doi/10.1145/3627825
Plessen MBemporad A(2021)Shortest path computations under trajectory constraints for ground vehicles within agricultural fields2016 IEEE 19th International Conference on Intelligent Transportation Systems (ITSC)10.1109/ITSC.2016.7795792(1733-1738)Online publication date: 10-Mar-2021
https://dl.acm.org/doi/10.1109/ITSC.2016.7795792
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Published In

cover image Computers and Electronics in Agriculture

Computers and Electronics in Agriculture Volume 74, Issue 1

October, 2010

175 pages

ISSN:0168-1699

Issue’s Table of Contents

Copyright © Elsevier B.V. © 2010.

Publisher

Elsevier Science Publishers B. V.

Netherlands

Publication History

Published: 01 October 2010

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Cited By

Chen TSeok Ahn HSun WPan JLiu YCheng JXu L(2024)Optimizing path planning for a single tracked combine harvesterComputers and Electronics in Agriculture10.1016/j.compag.2024.109217224:COnline publication date: 1-Sep-2024
https://dl.acm.org/doi/10.1016/j.compag.2024.109217
Makhdomi AGillani I(2023)Towards a Greener and Fairer Transportation System: A Survey of Route Recommendation TechniquesACM Transactions on Intelligent Systems and Technology10.1145/362782515:1(1-57)Online publication date: 19-Dec-2023
https://dl.acm.org/doi/10.1145/3627825
Plessen MBemporad A(2021)Shortest path computations under trajectory constraints for ground vehicles within agricultural fields2016 IEEE 19th International Conference on Intelligent Transportation Systems (ITSC)10.1109/ITSC.2016.7795792(1733-1738)Online publication date: 10-Mar-2021
https://dl.acm.org/doi/10.1109/ITSC.2016.7795792
Han XKim HKim JYi SMoon HKim JKim Y(2015)Path-tracking simulation and field tests for an auto-guidance tillage tractor for a paddy fieldComputers and Electronics in Agriculture10.1016/j.compag.2014.12.025112:C(161-171)Online publication date: 1-Mar-2015
https://dl.acm.org/doi/10.1016/j.compag.2014.12.025
Gutman PIoslovich I(2013)Optimal working time distribution and routing for autonomous tractors based on heuristic algorithmsAutomation and Remote Control10.1134/S000511791309005174:9(1486-1493)Online publication date: 1-Sep-2013
https://dl.acm.org/doi/10.1134/S0005117913090051

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