Autonomous Vehicle Slope Path Planning
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Solution Overview
Problem
Existing methods for cultivating sloping farmland using autonomous agricultural vehicles often require adjustments during cultivation due to varying angles of inclination, which can lead to suboptimal operations and potential vehicle stalling.
Innovation Solution
The method involves generating a cultivation plan that takes into account the angle of inclination for each path, determining the direction of movement based on this angle beforehand, ensuring that the vehicle moves downwardly on steep slopes to prevent stalling.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the autonomous vehicle follows predetermined paths without considering angle of inclination, then the cultivation operation is simple and efficient, but the vehicle may stall on steep slopes and operation stability deteriorates
Solution Approach 1:
The cultivation plan is generated in advance with angle of inclination data integrated into the path planning. The system pre-calculates optimal movement directions for each path segment based on slope angles, determining whether to move upward or downward before the vehicle begins operation. This preliminary consideration of terrain characteristics prevents stalling while maintaining operational simplicity.
Solution Approach 2:
The system changes the parameter of movement direction (upward or downward) based on the angle of inclination of each path segment. By dynamically adjusting the movement direction parameter according to terrain slope, the vehicle avoids stalling on steep slopes while adapting to varying terrain conditions throughout the cultivation process.
2Productivity
If the vehicle moves upward on steep slopes, then complete land coverage is achieved, but the vehicle may stall and productivity decreases
Solution Approach 1:
The system changes the movement direction parameter based on path inclination angle. For paths with steep upward slopes, the vehicle is directed to move downward instead of upward, preventing stalling while ensuring complete land coverage through alternative path routing. This dynamic parameter adjustment maintains both productivity and reliability.
Solution Approach 2:
Instead of always moving upward to achieve complete coverage, the system inverts the movement direction on steep slopes by directing the vehicle to move downward. This reverse approach prevents stalling while maintaining cultivation effectiveness, as the vehicle can process the same land area from a different directional perspective.
3Reliability
If the cultivation plan is adjusted during operation based on angle of inclination, then vehicle stalling is prevented, but operation time increases and efficiency decreases
Solution Approach 1:
The angle of inclination is considered and the optimal movement direction is determined in advance during cultivation plan generation, before the vehicle begins operation. By pre-calculating the best direction for each path segment based on terrain data, the system eliminates the need for real-time adjustments during cultivation, thus preventing stalling without increasing operation time.
Data Source
AI summary
A method for cultivating a piece of sloping farmland using an autonomous agricultural vehicle for performing an agricultural operation to attain the cultivating, the method including generating a cultivation plan for the piece of farmland, which plan includes multiple contiguous paths that extend over the piece of farmland, which paths are to be crossed by the autonomous vehicle in a predetermined order, and after the plan has been generated, controlling the autonomous vehicle such that it crosses the land by moving over each of the multiple contiguous paths according to the predetermined order, wherein a predetermined direction of movement of the autonomous vehicle over each of the paths depends on an angle of inclination of the each of these paths.