Research On Optimal Global Path Planning For Complete Coverage With GPS Guidance On Tractor

With the rapid adoption of GPS guidance systems in agricultural machinery, optimal coverage path planning provides the best practice reference path trajectories for tractor with GPS guidance, this makes the tractor work accurately and optimally. Therefore, according to the special characteristics of the work path and with digital map in GIS, optimal global path planning for complete coverage is researched.Firstly, with current situation and existing problems for coverage path planning, the development of GPS guidance tractor, working principle, key technology and the problem of coverage path planning are described. To analyze and plan the optimal coverage path in fields, the data structure of field description method in the 2D region is described, the components of operating costs are described, the problem of best work direction and the cost of different turns are analyzed. The calculation of different path trajectory and planning method of convex polygonal field are described, the method of work area zoning is proposed by improved the method of buffer line angle split. To large obstacle, the splitting algorithm with height of multiple operating width along the best work direction is described. To small obstacle, the method of shortest tangent based minimum turning radius is proposed. To the nonconvex polygonal, the decomposition is adopted to simplified into convex polygonal along the best direction. Finally, the system for optimal coverage path planning is designed and implemented using VC6.0 with MapX to simulate the tractor working.