Agricultural Vehicle Swath Routing for Collision-Free Parallel Work
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Solution Overview
Problem
The operation of multiple autonomous agricultural vehicles within a worksite poses challenges in collision avoidance and monitoring, as existing systems require complex logic and additional collision avoidance systems, and it is difficult for operators to oversee vehicles spread across large areas when working multiple swaths simultaneously.
Innovation Solution
A system and method that divide the working area into swath lines with first and second work route segments, assigning these segments to separate vehicles and controlling their operations to prevent collisions and improve visibility for the operator, allowing vehicles to work closely together without risk of collision.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If multiple autonomous vehicles operate simultaneously across multiple swaths, then productivity increases, but collision risk increases and monitoring becomes difficult
Solution Approach 1:
The system segments the working area into multiple distinct swaths, with each swath assigned to a specific vehicle. This spatial segmentation ensures that vehicles operate in separate zones, eliminating collision risks while maintaining high productivity through parallel operations across multiple swaths simultaneously.
Solution Approach 2:
A central controller acts as an intermediary that receives work area information, determines optimal route segments for each vehicle, and assigns specific swaths to individual vehicles. This intermediary coordination enables multiple vehicles to operate autonomously without direct vehicle-to-vehicle communication, simplifying collision avoidance while maximizing productivity.
2Extent of automation
If entire swaths are assigned to each vehicle for independent operation, then vehicle autonomy increases, but operator monitoring capability decreases
Solution Approach 1:
The system provides the operator with a top-down, two-dimensional visual representation of the entire working area showing all vehicles' positions and assigned swaths. This aerial view transforms the complex three-dimensional spatial relationships into an easily monitorable plane, allowing the operator to oversee multiple autonomous vehicles across large areas without being overwhelmed by their spatial distribution.
3Reliability
If collision avoidance systems and complicated logic are added to autonomous vehicles, then safety improves, but system complexity increases
Solution Approach 1:
The system extracts the collision avoidance function from individual vehicles and relocates it to a central controller. The controller determines non-overlapping swath assignments and coordinates vehicle operations, eliminating the need for complex onboard collision detection and avoidance systems in each autonomous vehicle. This centralization simplifies vehicle guidance systems while maintaining safety.
Data Source
AI summary
A first and second work vehicle may be configured to perform agricultural operations within a working area of a field. A controller may be configured to divide a plurality of swath lines extending between opposed ends of the working area into first and second work route segments, which are separated by a transition region positioned between the opposed ends and respectively assigned by the controller to the first and second work vehicles. The controller may instruct the work vehicles to perform the agricultural operations based on the respective first and second work route segments of the swath lines. For example, the instructions may include that the work vehicles transition between adjacent swath lines at the respective transition regions, that the work vehicles begin working simultaneously or sequentially, and/or that the work vehicles work one or more of the swath lines simultaneously for at least a period of time.