Track planning method and device for transition of unmanned wheel type agricultural machine

Abstract

The invention relates to the technical field of intelligent agricultural machinery, in particular to an unmanned wheel type agricultural machinery transition trajectory planning method and device, and the method comprises the steps: obtaining an initial map of an unmanned farm, and determining the field edge steering width of the full-coverage operation of the farm; a virtual field entering channel is added in the map, and the transition start pose, the transition end pose and the driving speed of the unmanned wheel type agricultural machine transition are obtained; generating a non-collision safe geometric path; performing discretization processing on the target data in the transition process; obtaining speed, acceleration, virtual front wheel rotation angle and angular speed discretization data, and constructing a multi-optimization target cost function and at least one constraint condition; and based on the track planning model of the unmanned wheel type agricultural machine transition, solving a driving track and a control quantity time sequence when the cost function is minimum. Therefore, the problems that in the prior art, an unmanned wheel type agricultural machine is long in driving path and low in efficiency in the transition process, and the operation efficiency and the operation quality in later field operation are low are solved.

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