混雑した果樹園環境における自動農作業車両の枕地旋回のための効率的かつ安全な軌道計画
Efficient and Safe Trajectory Planning for Autonomous Agricultural Vehicle Headland Turning in Cluttered Orchard Environments
果樹園の枕地旋回において、効率的なフロントエンドアルゴリズムと高性能なバックエンド最適化を組み合わせた新しい軌道計画手法を提案し、従来手法を上回る性能を示した。
著者: Peng Wei, Chen Peng, Wenwu Lu, Yuankai Zhu, Stavros Vougioukas, Zhenghao Fei, Zhikang Ge
分類: cs.RO
原文アブストラクト
Autonomous agricultural vehicles (AAVs), including field robots and autonomous tractors, are becoming essential in modern farming by improving efficiency and reducing labor costs. A critical task in AAV operations is headland turning between crop rows. This task is challenging in orchards with limited headland space, irregular boundaries, operational constraints, and static obstacles. While traditional trajectory planning methods work well in arable farming, they often fail in cluttered orchard environments. This letter presents a novel trajectory planner that enhances the safety and efficiency of AAV headland maneuvers, leveraging advancements in autonomous driving. Our approach includes an efficient front-end algorithm and a high-performance back-end optimization. Applied to vehicles with various implements, it outperforms state-of-the-art methods in both standard and challenging orchard fields. This work bridges agricultural and autonomous driving technologies, facilitating a broader adoption of AAVs in complex orchards.
