Journal of Biosystems Engineering

Korean Society for Agricultural Machinery (한국농업기계학회)
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Development of a Path Generation and Tracking Algorithm for a Korean Auto-guidance Tillage Tractor

  • Han, Xiong-Zhe (Dept. of Biosystems Engineering and Biomaterals Science & Research Institute for Agriculture and Life Sciences, Seoul National University) ;
  • Kim, Hak-Jin (Dept. of Biosystems Engineering and Biomaterals Science & Research Institute for Agriculture and Life Sciences, Seoul National University) ;
  • Moon, Hee-Chang (Unmanned Solution Co.) ;
  • Woo, Hoon-Je (Unmanned Solution Co.) ;
  • Kim, Jung-Hun (R&D Center, Tong Yang Moolsan Co.) ;
  • Kim, Young-Joo (Korea Institute of Industrial Technology)
  • Received : 2012.12.29
  • Accepted : 2013.02.28
  • Published : 2013.03.01
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Abstract

Purpose: Path planning and tracking algorithms applicable to various agricultural operations, such as tillage, planting, and spraying, are needed to generate steering angles for auto-guidance tractors to track a point ahead on the path. An optimal coverage path algorithm can enable a vehicle to effectively travel across a field by following a sequence of parallel paths with fixed spacing. This study proposes a path generation and tracking algorithm for an auto-guided Korean tractor with a tillage implement that generates a path with C-type turns and follows the generated path in a paddy field. A mathematical model was developed to generate a waypoint path for a tractor in a field. This waypoint path generation model was based on minimum tractor turning radius, waypoint intervals and LBOs (Limit of Boundary Offsets). At each location, the steering angle was calculated by comparing the waypoint angle and heading angle of the tractor. A path following program was developed with Labview-CVI to automatically read the waypoints and generate steering angles for the tractor to proceed to the next waypoint. A feasibility test of the developed program for real-time path tracking was performed with a mobile platform traveling on flat ground. The test results showed that the developed algorithm generated the desired path and steering angles with acceptable accuracy.

Keywords

References

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