文章基本信息

标题：Research on static path planning method of small obstacles for automatic navigation of agricultural machinery
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作者：Changqing Liu ; Xueyan Zhao ; Yuefeng Du 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2018
卷号：51
期号：17
页码：673-677
DOI：10.1016/j.ifacol.2018.08.119
语种：English
出版社：Elsevier
摘要：AbstractIn order to enable the automatic navigation agricultural machinery effectively avoid the local static small obstacles in the field operation process, obstacle avoidance path planning method is studied for agricultural machinery in the case of known environmental information in this paper. Firstly, the obstacle avoidance path for a single small obstacle is proposed as the path consisting of three circular arcs, which solves the problem that agricultural machine holds minimum turning radius and is difficult to achieve line turning in the driving path. Then, the different situations of many small obstacles in the same driving path are analysed and the obstacle avoidance path planning method for many small obstacles is proposed when the obstacles are on the same driving path and in the relatively far distance. Finally, simulation study is conducted and the result proves that the proposed methods can plan effective path to avoid obstacles for automatic navigation agricultural machinery in complex conditions such as multiple obstacles with relatively far distances. The research works in this paper can provide essential references for obstacle avoidance path planning in other relevant fields.
关键词：KeywordsPath planningObstacle avoidanceSmall obstacleAgricultural machineryAutomatic navigation