An entry-exit path planner for an autonomous tractor in a paddy field
A field boundary with a single entrance as well as the entry and exit paths of the tractor based on the entrance location are key design requirements that must be considered when planning an effective path for an autonomous tractor operating in a paddy field to avoid collisions with the embankments...
Ausführliche Beschreibung
Gespeichert in:
| Autor*in: |
Jeon, Chan-Woo [verfasserIn] Kim, Hak-Jin [verfasserIn] Yun, Changho [verfasserIn] Gang, MinSeok [verfasserIn] Han, Xiongzhe [verfasserIn] |
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| Format: |
E-Artikel |
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| Sprache: |
Englisch |
| Erschienen: |
2021 |
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| Schlagwörter: |
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| Übergeordnetes Werk: |
Enthalten in: Computers and electronics in agriculture - Amsterdam [u.a.] : Elsevier Science, 1985, 191 |
|---|---|
| Übergeordnetes Werk: |
volume:191 |
| DOI / URN: |
10.1016/j.compag.2021.106548 |
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| Katalog-ID: |
ELV007020910 |
|---|
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| 024 | 7 | |a 10.1016/j.compag.2021.106548 |2 doi | |
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| 245 | 1 | 0 | |a An entry-exit path planner for an autonomous tractor in a paddy field |
| 264 | 1 | |c 2021 | |
| 336 | |a nicht spezifiziert |b zzz |2 rdacontent | ||
| 337 | |a Computermedien |b c |2 rdamedia | ||
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| 520 | |a A field boundary with a single entrance as well as the entry and exit paths of the tractor based on the entrance location are key design requirements that must be considered when planning an effective path for an autonomous tractor operating in a paddy field to avoid collisions with the embankments that hold floodwater. In creating a complete in-field coverage path, an entry-exit path planner that generates paths to/from the start/end points of the auto-traveled path is needed to achieve effective field operations for a fully autonomous tractor. In this study, a novel path planner for the entry and exit operations of an autonomous tractor was developed using the A* algorithm to enable the tractor located at the entrance to automatically go to the start point of an agricultural task and return to the entrance after completing the agricultural task. An occupancy grid map with virtual obstacles was designed and the A* algorithm was applied to it to create a path for the tractor to reach its destination via the entry-exit path accurately in terms of positioning and heading. Two path-smoothing processes, a line-of-sight path smoother (LOPS) and a collinear-node path smoother (CNS), were performed to reduce redundant turning and control waypoints derived by the A* algorithm. The feasibility of using the developed algorithms was investigated via computer simulations followed by field tests with a 60-kW autonomous tractor. The simulation results confirm that the entry and exit paths generated by the proposed planner effectively guided the tractor to reach the given target points in terms of location and direction under the various entry, start, and end conditions by reducing the lateral and heading errors compared with those obtained without using the proposed search space and smoothers. For validation testing in two real paddy fields, the entry-exit paths were successfully generated in response to different entrance locations and the tractor followed the entry path and started the operation at the start point of the work path with a lateral deviation of ≤8.5 cm. In addition, the tractor navigated the exit path automatically and reached the destination with a lateral deviation of <12 cm and a heading error of <22° to the entrance and the operator was then able to drive the tractor to exit the field easily without backward navigation. | ||
| 650 | 4 | |a Path planning | |
| 650 | 4 | |a A* algorithm | |
| 650 | 4 | |a Entry-exit path | |
| 650 | 4 | |a Paddy field | |
| 650 | 4 | |a Autonomous tractor | |
| 700 | 1 | |a Kim, Hak-Jin |e verfasserin |4 aut | |
| 700 | 1 | |a Yun, Changho |e verfasserin |4 aut | |
| 700 | 1 | |a Gang, MinSeok |e verfasserin |4 aut | |
| 700 | 1 | |a Han, Xiongzhe |e verfasserin |4 aut | |
| 773 | 0 | 8 | |i Enthalten in |t Computers and electronics in agriculture |d Amsterdam [u.a.] : Elsevier Science, 1985 |g 191 |h Online-Ressource |w (DE-627)320567826 |w (DE-600)2016151-7 |w (DE-576)090955684 |x 1872-7107 |7 nnns |
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10.1016/j.compag.2021.106548 doi (DE-627)ELV007020910 (ELSEVIER)S0168-1699(21)00565-2 DE-627 ger DE-627 rda eng 620 630 640 004 DE-600 48.03 bkl Jeon, Chan-Woo verfasserin aut An entry-exit path planner for an autonomous tractor in a paddy field 2021 nicht spezifiziert zzz rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier A field boundary with a single entrance as well as the entry and exit paths of the tractor based on the entrance location are key design requirements that must be considered when planning an effective path for an autonomous tractor operating in a paddy field to avoid collisions with the embankments that hold floodwater. In creating a complete in-field coverage path, an entry-exit path planner that generates paths to/from the start/end points of the auto-traveled path is needed to achieve effective field operations for a fully autonomous tractor. In this study, a novel path planner for the entry and exit operations of an autonomous tractor was developed using the A* algorithm to enable the tractor located at the entrance to automatically go to the start point of an agricultural task and return to the entrance after completing the agricultural task. An occupancy grid map with virtual obstacles was designed and the A* algorithm was applied to it to create a path for the tractor to reach its destination via the entry-exit path accurately in terms of positioning and heading. Two path-smoothing processes, a line-of-sight path smoother (LOPS) and a collinear-node path smoother (CNS), were performed to reduce redundant turning and control waypoints derived by the A* algorithm. The feasibility of using the developed algorithms was investigated via computer simulations followed by field tests with a 60-kW autonomous tractor. The simulation results confirm that the entry and exit paths generated by the proposed planner effectively guided the tractor to reach the given target points in terms of location and direction under the various entry, start, and end conditions by reducing the lateral and heading errors compared with those obtained without using the proposed search space and smoothers. For validation testing in two real paddy fields, the entry-exit paths were successfully generated in response to different entrance locations and the tractor followed the entry path and started the operation at the start point of the work path with a lateral deviation of ≤8.5 cm. In addition, the tractor navigated the exit path automatically and reached the destination with a lateral deviation of <12 cm and a heading error of <22° to the entrance and the operator was then able to drive the tractor to exit the field easily without backward navigation. Path planning A* algorithm Entry-exit path Paddy field Autonomous tractor Kim, Hak-Jin verfasserin aut Yun, Changho verfasserin aut Gang, MinSeok verfasserin aut Han, Xiongzhe verfasserin aut Enthalten in Computers and electronics in agriculture Amsterdam [u.a.] : Elsevier Science, 1985 191 Online-Ressource (DE-627)320567826 (DE-600)2016151-7 (DE-576)090955684 1872-7107 nnns volume:191 GBV_USEFLAG_U SYSFLAG_U GBV_ELV SSG-OPC-FOR GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_31 GBV_ILN_32 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_74 GBV_ILN_90 GBV_ILN_95 GBV_ILN_100 GBV_ILN_101 GBV_ILN_105 GBV_ILN_110 GBV_ILN_150 GBV_ILN_151 GBV_ILN_224 GBV_ILN_370 GBV_ILN_602 GBV_ILN_702 GBV_ILN_2003 GBV_ILN_2004 GBV_ILN_2005 GBV_ILN_2011 GBV_ILN_2014 GBV_ILN_2015 GBV_ILN_2020 GBV_ILN_2021 GBV_ILN_2025 GBV_ILN_2027 GBV_ILN_2034 GBV_ILN_2038 GBV_ILN_2044 GBV_ILN_2048 GBV_ILN_2049 GBV_ILN_2050 GBV_ILN_2056 GBV_ILN_2059 GBV_ILN_2061 GBV_ILN_2064 GBV_ILN_2065 GBV_ILN_2068 GBV_ILN_2111 GBV_ILN_2112 GBV_ILN_2113 GBV_ILN_2118 GBV_ILN_2122 GBV_ILN_2129 GBV_ILN_2143 GBV_ILN_2147 GBV_ILN_2148 GBV_ILN_2152 GBV_ILN_2153 GBV_ILN_2190 GBV_ILN_2336 GBV_ILN_2507 GBV_ILN_2522 GBV_ILN_4035 GBV_ILN_4037 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4242 GBV_ILN_4251 GBV_ILN_4305 GBV_ILN_4313 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4326 GBV_ILN_4333 GBV_ILN_4334 GBV_ILN_4335 GBV_ILN_4338 GBV_ILN_4393 48.03 Methoden und Techniken der Land- und Forstwirtschaft AR 191 |
| spelling |
10.1016/j.compag.2021.106548 doi (DE-627)ELV007020910 (ELSEVIER)S0168-1699(21)00565-2 DE-627 ger DE-627 rda eng 620 630 640 004 DE-600 48.03 bkl Jeon, Chan-Woo verfasserin aut An entry-exit path planner for an autonomous tractor in a paddy field 2021 nicht spezifiziert zzz rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier A field boundary with a single entrance as well as the entry and exit paths of the tractor based on the entrance location are key design requirements that must be considered when planning an effective path for an autonomous tractor operating in a paddy field to avoid collisions with the embankments that hold floodwater. In creating a complete in-field coverage path, an entry-exit path planner that generates paths to/from the start/end points of the auto-traveled path is needed to achieve effective field operations for a fully autonomous tractor. In this study, a novel path planner for the entry and exit operations of an autonomous tractor was developed using the A* algorithm to enable the tractor located at the entrance to automatically go to the start point of an agricultural task and return to the entrance after completing the agricultural task. An occupancy grid map with virtual obstacles was designed and the A* algorithm was applied to it to create a path for the tractor to reach its destination via the entry-exit path accurately in terms of positioning and heading. Two path-smoothing processes, a line-of-sight path smoother (LOPS) and a collinear-node path smoother (CNS), were performed to reduce redundant turning and control waypoints derived by the A* algorithm. The feasibility of using the developed algorithms was investigated via computer simulations followed by field tests with a 60-kW autonomous tractor. The simulation results confirm that the entry and exit paths generated by the proposed planner effectively guided the tractor to reach the given target points in terms of location and direction under the various entry, start, and end conditions by reducing the lateral and heading errors compared with those obtained without using the proposed search space and smoothers. For validation testing in two real paddy fields, the entry-exit paths were successfully generated in response to different entrance locations and the tractor followed the entry path and started the operation at the start point of the work path with a lateral deviation of ≤8.5 cm. In addition, the tractor navigated the exit path automatically and reached the destination with a lateral deviation of <12 cm and a heading error of <22° to the entrance and the operator was then able to drive the tractor to exit the field easily without backward navigation. Path planning A* algorithm Entry-exit path Paddy field Autonomous tractor Kim, Hak-Jin verfasserin aut Yun, Changho verfasserin aut Gang, MinSeok verfasserin aut Han, Xiongzhe verfasserin aut Enthalten in Computers and electronics in agriculture Amsterdam [u.a.] : Elsevier Science, 1985 191 Online-Ressource (DE-627)320567826 (DE-600)2016151-7 (DE-576)090955684 1872-7107 nnns volume:191 GBV_USEFLAG_U SYSFLAG_U GBV_ELV SSG-OPC-FOR GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_31 GBV_ILN_32 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_74 GBV_ILN_90 GBV_ILN_95 GBV_ILN_100 GBV_ILN_101 GBV_ILN_105 GBV_ILN_110 GBV_ILN_150 GBV_ILN_151 GBV_ILN_224 GBV_ILN_370 GBV_ILN_602 GBV_ILN_702 GBV_ILN_2003 GBV_ILN_2004 GBV_ILN_2005 GBV_ILN_2011 GBV_ILN_2014 GBV_ILN_2015 GBV_ILN_2020 GBV_ILN_2021 GBV_ILN_2025 GBV_ILN_2027 GBV_ILN_2034 GBV_ILN_2038 GBV_ILN_2044 GBV_ILN_2048 GBV_ILN_2049 GBV_ILN_2050 GBV_ILN_2056 GBV_ILN_2059 GBV_ILN_2061 GBV_ILN_2064 GBV_ILN_2065 GBV_ILN_2068 GBV_ILN_2111 GBV_ILN_2112 GBV_ILN_2113 GBV_ILN_2118 GBV_ILN_2122 GBV_ILN_2129 GBV_ILN_2143 GBV_ILN_2147 GBV_ILN_2148 GBV_ILN_2152 GBV_ILN_2153 GBV_ILN_2190 GBV_ILN_2336 GBV_ILN_2507 GBV_ILN_2522 GBV_ILN_4035 GBV_ILN_4037 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4242 GBV_ILN_4251 GBV_ILN_4305 GBV_ILN_4313 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4326 GBV_ILN_4333 GBV_ILN_4334 GBV_ILN_4335 GBV_ILN_4338 GBV_ILN_4393 48.03 Methoden und Techniken der Land- und Forstwirtschaft AR 191 |
| allfields_unstemmed |
10.1016/j.compag.2021.106548 doi (DE-627)ELV007020910 (ELSEVIER)S0168-1699(21)00565-2 DE-627 ger DE-627 rda eng 620 630 640 004 DE-600 48.03 bkl Jeon, Chan-Woo verfasserin aut An entry-exit path planner for an autonomous tractor in a paddy field 2021 nicht spezifiziert zzz rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier A field boundary with a single entrance as well as the entry and exit paths of the tractor based on the entrance location are key design requirements that must be considered when planning an effective path for an autonomous tractor operating in a paddy field to avoid collisions with the embankments that hold floodwater. In creating a complete in-field coverage path, an entry-exit path planner that generates paths to/from the start/end points of the auto-traveled path is needed to achieve effective field operations for a fully autonomous tractor. In this study, a novel path planner for the entry and exit operations of an autonomous tractor was developed using the A* algorithm to enable the tractor located at the entrance to automatically go to the start point of an agricultural task and return to the entrance after completing the agricultural task. An occupancy grid map with virtual obstacles was designed and the A* algorithm was applied to it to create a path for the tractor to reach its destination via the entry-exit path accurately in terms of positioning and heading. Two path-smoothing processes, a line-of-sight path smoother (LOPS) and a collinear-node path smoother (CNS), were performed to reduce redundant turning and control waypoints derived by the A* algorithm. The feasibility of using the developed algorithms was investigated via computer simulations followed by field tests with a 60-kW autonomous tractor. The simulation results confirm that the entry and exit paths generated by the proposed planner effectively guided the tractor to reach the given target points in terms of location and direction under the various entry, start, and end conditions by reducing the lateral and heading errors compared with those obtained without using the proposed search space and smoothers. For validation testing in two real paddy fields, the entry-exit paths were successfully generated in response to different entrance locations and the tractor followed the entry path and started the operation at the start point of the work path with a lateral deviation of ≤8.5 cm. In addition, the tractor navigated the exit path automatically and reached the destination with a lateral deviation of <12 cm and a heading error of <22° to the entrance and the operator was then able to drive the tractor to exit the field easily without backward navigation. Path planning A* algorithm Entry-exit path Paddy field Autonomous tractor Kim, Hak-Jin verfasserin aut Yun, Changho verfasserin aut Gang, MinSeok verfasserin aut Han, Xiongzhe verfasserin aut Enthalten in Computers and electronics in agriculture Amsterdam [u.a.] : Elsevier Science, 1985 191 Online-Ressource (DE-627)320567826 (DE-600)2016151-7 (DE-576)090955684 1872-7107 nnns volume:191 GBV_USEFLAG_U SYSFLAG_U GBV_ELV SSG-OPC-FOR GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_31 GBV_ILN_32 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_74 GBV_ILN_90 GBV_ILN_95 GBV_ILN_100 GBV_ILN_101 GBV_ILN_105 GBV_ILN_110 GBV_ILN_150 GBV_ILN_151 GBV_ILN_224 GBV_ILN_370 GBV_ILN_602 GBV_ILN_702 GBV_ILN_2003 GBV_ILN_2004 GBV_ILN_2005 GBV_ILN_2011 GBV_ILN_2014 GBV_ILN_2015 GBV_ILN_2020 GBV_ILN_2021 GBV_ILN_2025 GBV_ILN_2027 GBV_ILN_2034 GBV_ILN_2038 GBV_ILN_2044 GBV_ILN_2048 GBV_ILN_2049 GBV_ILN_2050 GBV_ILN_2056 GBV_ILN_2059 GBV_ILN_2061 GBV_ILN_2064 GBV_ILN_2065 GBV_ILN_2068 GBV_ILN_2111 GBV_ILN_2112 GBV_ILN_2113 GBV_ILN_2118 GBV_ILN_2122 GBV_ILN_2129 GBV_ILN_2143 GBV_ILN_2147 GBV_ILN_2148 GBV_ILN_2152 GBV_ILN_2153 GBV_ILN_2190 GBV_ILN_2336 GBV_ILN_2507 GBV_ILN_2522 GBV_ILN_4035 GBV_ILN_4037 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4242 GBV_ILN_4251 GBV_ILN_4305 GBV_ILN_4313 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4326 GBV_ILN_4333 GBV_ILN_4334 GBV_ILN_4335 GBV_ILN_4338 GBV_ILN_4393 48.03 Methoden und Techniken der Land- und Forstwirtschaft AR 191 |
| allfieldsGer |
10.1016/j.compag.2021.106548 doi (DE-627)ELV007020910 (ELSEVIER)S0168-1699(21)00565-2 DE-627 ger DE-627 rda eng 620 630 640 004 DE-600 48.03 bkl Jeon, Chan-Woo verfasserin aut An entry-exit path planner for an autonomous tractor in a paddy field 2021 nicht spezifiziert zzz rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier A field boundary with a single entrance as well as the entry and exit paths of the tractor based on the entrance location are key design requirements that must be considered when planning an effective path for an autonomous tractor operating in a paddy field to avoid collisions with the embankments that hold floodwater. In creating a complete in-field coverage path, an entry-exit path planner that generates paths to/from the start/end points of the auto-traveled path is needed to achieve effective field operations for a fully autonomous tractor. In this study, a novel path planner for the entry and exit operations of an autonomous tractor was developed using the A* algorithm to enable the tractor located at the entrance to automatically go to the start point of an agricultural task and return to the entrance after completing the agricultural task. An occupancy grid map with virtual obstacles was designed and the A* algorithm was applied to it to create a path for the tractor to reach its destination via the entry-exit path accurately in terms of positioning and heading. Two path-smoothing processes, a line-of-sight path smoother (LOPS) and a collinear-node path smoother (CNS), were performed to reduce redundant turning and control waypoints derived by the A* algorithm. The feasibility of using the developed algorithms was investigated via computer simulations followed by field tests with a 60-kW autonomous tractor. The simulation results confirm that the entry and exit paths generated by the proposed planner effectively guided the tractor to reach the given target points in terms of location and direction under the various entry, start, and end conditions by reducing the lateral and heading errors compared with those obtained without using the proposed search space and smoothers. For validation testing in two real paddy fields, the entry-exit paths were successfully generated in response to different entrance locations and the tractor followed the entry path and started the operation at the start point of the work path with a lateral deviation of ≤8.5 cm. In addition, the tractor navigated the exit path automatically and reached the destination with a lateral deviation of <12 cm and a heading error of <22° to the entrance and the operator was then able to drive the tractor to exit the field easily without backward navigation. Path planning A* algorithm Entry-exit path Paddy field Autonomous tractor Kim, Hak-Jin verfasserin aut Yun, Changho verfasserin aut Gang, MinSeok verfasserin aut Han, Xiongzhe verfasserin aut Enthalten in Computers and electronics in agriculture Amsterdam [u.a.] : Elsevier Science, 1985 191 Online-Ressource (DE-627)320567826 (DE-600)2016151-7 (DE-576)090955684 1872-7107 nnns volume:191 GBV_USEFLAG_U SYSFLAG_U GBV_ELV SSG-OPC-FOR GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_31 GBV_ILN_32 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_74 GBV_ILN_90 GBV_ILN_95 GBV_ILN_100 GBV_ILN_101 GBV_ILN_105 GBV_ILN_110 GBV_ILN_150 GBV_ILN_151 GBV_ILN_224 GBV_ILN_370 GBV_ILN_602 GBV_ILN_702 GBV_ILN_2003 GBV_ILN_2004 GBV_ILN_2005 GBV_ILN_2011 GBV_ILN_2014 GBV_ILN_2015 GBV_ILN_2020 GBV_ILN_2021 GBV_ILN_2025 GBV_ILN_2027 GBV_ILN_2034 GBV_ILN_2038 GBV_ILN_2044 GBV_ILN_2048 GBV_ILN_2049 GBV_ILN_2050 GBV_ILN_2056 GBV_ILN_2059 GBV_ILN_2061 GBV_ILN_2064 GBV_ILN_2065 GBV_ILN_2068 GBV_ILN_2111 GBV_ILN_2112 GBV_ILN_2113 GBV_ILN_2118 GBV_ILN_2122 GBV_ILN_2129 GBV_ILN_2143 GBV_ILN_2147 GBV_ILN_2148 GBV_ILN_2152 GBV_ILN_2153 GBV_ILN_2190 GBV_ILN_2336 GBV_ILN_2507 GBV_ILN_2522 GBV_ILN_4035 GBV_ILN_4037 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4242 GBV_ILN_4251 GBV_ILN_4305 GBV_ILN_4313 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4326 GBV_ILN_4333 GBV_ILN_4334 GBV_ILN_4335 GBV_ILN_4338 GBV_ILN_4393 48.03 Methoden und Techniken der Land- und Forstwirtschaft AR 191 |
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10.1016/j.compag.2021.106548 doi (DE-627)ELV007020910 (ELSEVIER)S0168-1699(21)00565-2 DE-627 ger DE-627 rda eng 620 630 640 004 DE-600 48.03 bkl Jeon, Chan-Woo verfasserin aut An entry-exit path planner for an autonomous tractor in a paddy field 2021 nicht spezifiziert zzz rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier A field boundary with a single entrance as well as the entry and exit paths of the tractor based on the entrance location are key design requirements that must be considered when planning an effective path for an autonomous tractor operating in a paddy field to avoid collisions with the embankments that hold floodwater. In creating a complete in-field coverage path, an entry-exit path planner that generates paths to/from the start/end points of the auto-traveled path is needed to achieve effective field operations for a fully autonomous tractor. In this study, a novel path planner for the entry and exit operations of an autonomous tractor was developed using the A* algorithm to enable the tractor located at the entrance to automatically go to the start point of an agricultural task and return to the entrance after completing the agricultural task. An occupancy grid map with virtual obstacles was designed and the A* algorithm was applied to it to create a path for the tractor to reach its destination via the entry-exit path accurately in terms of positioning and heading. Two path-smoothing processes, a line-of-sight path smoother (LOPS) and a collinear-node path smoother (CNS), were performed to reduce redundant turning and control waypoints derived by the A* algorithm. The feasibility of using the developed algorithms was investigated via computer simulations followed by field tests with a 60-kW autonomous tractor. The simulation results confirm that the entry and exit paths generated by the proposed planner effectively guided the tractor to reach the given target points in terms of location and direction under the various entry, start, and end conditions by reducing the lateral and heading errors compared with those obtained without using the proposed search space and smoothers. For validation testing in two real paddy fields, the entry-exit paths were successfully generated in response to different entrance locations and the tractor followed the entry path and started the operation at the start point of the work path with a lateral deviation of ≤8.5 cm. In addition, the tractor navigated the exit path automatically and reached the destination with a lateral deviation of <12 cm and a heading error of <22° to the entrance and the operator was then able to drive the tractor to exit the field easily without backward navigation. Path planning A* algorithm Entry-exit path Paddy field Autonomous tractor Kim, Hak-Jin verfasserin aut Yun, Changho verfasserin aut Gang, MinSeok verfasserin aut Han, Xiongzhe verfasserin aut Enthalten in Computers and electronics in agriculture Amsterdam [u.a.] : Elsevier Science, 1985 191 Online-Ressource (DE-627)320567826 (DE-600)2016151-7 (DE-576)090955684 1872-7107 nnns volume:191 GBV_USEFLAG_U SYSFLAG_U GBV_ELV SSG-OPC-FOR GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_31 GBV_ILN_32 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_74 GBV_ILN_90 GBV_ILN_95 GBV_ILN_100 GBV_ILN_101 GBV_ILN_105 GBV_ILN_110 GBV_ILN_150 GBV_ILN_151 GBV_ILN_224 GBV_ILN_370 GBV_ILN_602 GBV_ILN_702 GBV_ILN_2003 GBV_ILN_2004 GBV_ILN_2005 GBV_ILN_2011 GBV_ILN_2014 GBV_ILN_2015 GBV_ILN_2020 GBV_ILN_2021 GBV_ILN_2025 GBV_ILN_2027 GBV_ILN_2034 GBV_ILN_2038 GBV_ILN_2044 GBV_ILN_2048 GBV_ILN_2049 GBV_ILN_2050 GBV_ILN_2056 GBV_ILN_2059 GBV_ILN_2061 GBV_ILN_2064 GBV_ILN_2065 GBV_ILN_2068 GBV_ILN_2111 GBV_ILN_2112 GBV_ILN_2113 GBV_ILN_2118 GBV_ILN_2122 GBV_ILN_2129 GBV_ILN_2143 GBV_ILN_2147 GBV_ILN_2148 GBV_ILN_2152 GBV_ILN_2153 GBV_ILN_2190 GBV_ILN_2336 GBV_ILN_2507 GBV_ILN_2522 GBV_ILN_4035 GBV_ILN_4037 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4242 GBV_ILN_4251 GBV_ILN_4305 GBV_ILN_4313 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4326 GBV_ILN_4333 GBV_ILN_4334 GBV_ILN_4335 GBV_ILN_4338 GBV_ILN_4393 48.03 Methoden und Techniken der Land- und Forstwirtschaft AR 191 |
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Enthalten in Computers and electronics in agriculture 191 volume:191 |
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Enthalten in Computers and electronics in agriculture 191 volume:191 |
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Methoden und Techniken der Land- und Forstwirtschaft |
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Path planning A* algorithm Entry-exit path Paddy field Autonomous tractor |
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Computers and electronics in agriculture |
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Jeon, Chan-Woo @@aut@@ Kim, Hak-Jin @@aut@@ Yun, Changho @@aut@@ Gang, MinSeok @@aut@@ Han, Xiongzhe @@aut@@ |
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2021-01-01T00:00:00Z |
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Jeon, Chan-Woo |
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Jeon, Chan-Woo ddc 620 bkl 48.03 misc Path planning misc A* algorithm misc Entry-exit path misc Paddy field misc Autonomous tractor An entry-exit path planner for an autonomous tractor in a paddy field |
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620 630 640 004 DE-600 48.03 bkl An entry-exit path planner for an autonomous tractor in a paddy field Path planning A* algorithm Entry-exit path Paddy field Autonomous tractor |
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ddc 620 bkl 48.03 misc Path planning misc A* algorithm misc Entry-exit path misc Paddy field misc Autonomous tractor |
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Jeon, Chan-Woo Kim, Hak-Jin Yun, Changho Gang, MinSeok Han, Xiongzhe |
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an entry-exit path planner for an autonomous tractor in a paddy field |
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An entry-exit path planner for an autonomous tractor in a paddy field |
| abstract |
A field boundary with a single entrance as well as the entry and exit paths of the tractor based on the entrance location are key design requirements that must be considered when planning an effective path for an autonomous tractor operating in a paddy field to avoid collisions with the embankments that hold floodwater. In creating a complete in-field coverage path, an entry-exit path planner that generates paths to/from the start/end points of the auto-traveled path is needed to achieve effective field operations for a fully autonomous tractor. In this study, a novel path planner for the entry and exit operations of an autonomous tractor was developed using the A* algorithm to enable the tractor located at the entrance to automatically go to the start point of an agricultural task and return to the entrance after completing the agricultural task. An occupancy grid map with virtual obstacles was designed and the A* algorithm was applied to it to create a path for the tractor to reach its destination via the entry-exit path accurately in terms of positioning and heading. Two path-smoothing processes, a line-of-sight path smoother (LOPS) and a collinear-node path smoother (CNS), were performed to reduce redundant turning and control waypoints derived by the A* algorithm. The feasibility of using the developed algorithms was investigated via computer simulations followed by field tests with a 60-kW autonomous tractor. The simulation results confirm that the entry and exit paths generated by the proposed planner effectively guided the tractor to reach the given target points in terms of location and direction under the various entry, start, and end conditions by reducing the lateral and heading errors compared with those obtained without using the proposed search space and smoothers. For validation testing in two real paddy fields, the entry-exit paths were successfully generated in response to different entrance locations and the tractor followed the entry path and started the operation at the start point of the work path with a lateral deviation of ≤8.5 cm. In addition, the tractor navigated the exit path automatically and reached the destination with a lateral deviation of <12 cm and a heading error of <22° to the entrance and the operator was then able to drive the tractor to exit the field easily without backward navigation. |
| abstractGer |
A field boundary with a single entrance as well as the entry and exit paths of the tractor based on the entrance location are key design requirements that must be considered when planning an effective path for an autonomous tractor operating in a paddy field to avoid collisions with the embankments that hold floodwater. In creating a complete in-field coverage path, an entry-exit path planner that generates paths to/from the start/end points of the auto-traveled path is needed to achieve effective field operations for a fully autonomous tractor. In this study, a novel path planner for the entry and exit operations of an autonomous tractor was developed using the A* algorithm to enable the tractor located at the entrance to automatically go to the start point of an agricultural task and return to the entrance after completing the agricultural task. An occupancy grid map with virtual obstacles was designed and the A* algorithm was applied to it to create a path for the tractor to reach its destination via the entry-exit path accurately in terms of positioning and heading. Two path-smoothing processes, a line-of-sight path smoother (LOPS) and a collinear-node path smoother (CNS), were performed to reduce redundant turning and control waypoints derived by the A* algorithm. The feasibility of using the developed algorithms was investigated via computer simulations followed by field tests with a 60-kW autonomous tractor. The simulation results confirm that the entry and exit paths generated by the proposed planner effectively guided the tractor to reach the given target points in terms of location and direction under the various entry, start, and end conditions by reducing the lateral and heading errors compared with those obtained without using the proposed search space and smoothers. For validation testing in two real paddy fields, the entry-exit paths were successfully generated in response to different entrance locations and the tractor followed the entry path and started the operation at the start point of the work path with a lateral deviation of ≤8.5 cm. In addition, the tractor navigated the exit path automatically and reached the destination with a lateral deviation of <12 cm and a heading error of <22° to the entrance and the operator was then able to drive the tractor to exit the field easily without backward navigation. |
| abstract_unstemmed |
A field boundary with a single entrance as well as the entry and exit paths of the tractor based on the entrance location are key design requirements that must be considered when planning an effective path for an autonomous tractor operating in a paddy field to avoid collisions with the embankments that hold floodwater. In creating a complete in-field coverage path, an entry-exit path planner that generates paths to/from the start/end points of the auto-traveled path is needed to achieve effective field operations for a fully autonomous tractor. In this study, a novel path planner for the entry and exit operations of an autonomous tractor was developed using the A* algorithm to enable the tractor located at the entrance to automatically go to the start point of an agricultural task and return to the entrance after completing the agricultural task. An occupancy grid map with virtual obstacles was designed and the A* algorithm was applied to it to create a path for the tractor to reach its destination via the entry-exit path accurately in terms of positioning and heading. Two path-smoothing processes, a line-of-sight path smoother (LOPS) and a collinear-node path smoother (CNS), were performed to reduce redundant turning and control waypoints derived by the A* algorithm. The feasibility of using the developed algorithms was investigated via computer simulations followed by field tests with a 60-kW autonomous tractor. The simulation results confirm that the entry and exit paths generated by the proposed planner effectively guided the tractor to reach the given target points in terms of location and direction under the various entry, start, and end conditions by reducing the lateral and heading errors compared with those obtained without using the proposed search space and smoothers. For validation testing in two real paddy fields, the entry-exit paths were successfully generated in response to different entrance locations and the tractor followed the entry path and started the operation at the start point of the work path with a lateral deviation of ≤8.5 cm. In addition, the tractor navigated the exit path automatically and reached the destination with a lateral deviation of <12 cm and a heading error of <22° to the entrance and the operator was then able to drive the tractor to exit the field easily without backward navigation. |
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|
| score |
7.40114 |