Autonomous Work Vehicle Path Planning for Headland Turns
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Solution Overview
Problem
Autonomous work vehicles face inefficiencies in agricultural operations due to the need for manual control at headland turns to avoid restricted regions, such as planted crops, which reduces the efficiency of path traversal between swaths.
Innovation Solution
A path planning system that uses a controller to determine an initial path between swaths, identifies restricted regions, and calculates waypoints to create updated paths that intersect these points, allowing the vehicle to automatically avoid restricted areas while maintaining implement overlap, thereby increasing operational efficiency.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the autonomous work vehicle is manually controlled during headland turns, then the vehicle can avoid traversing restricted regions (e.g., planted crops), but the efficiency of the agricultural operation is reduced due to inefficient path selection
Solution Approach 1:
The path planning system enables the autonomous work vehicle to automatically plan and execute its own path through headland turns, eliminating the need for manual operator intervention. The system self-determines optimal paths that avoid restricted regions while maximizing operational efficiency, allowing the vehicle to serve itself in path planning decisions.
Solution Approach 2:
The system dynamically adjusts path parameters (waypoint positions, path geometry) based on field characteristics, vehicle dimensions, and implement dimensions. By changing these parameters automatically, the system optimizes the trade-off between avoiding restricted regions and maintaining efficient travel paths between swaths.
2Productivity
If the autonomous work vehicle is automatically controlled during headland turns, then operational efficiency is improved, but the vehicle may traverse restricted regions and engage planted crops with its tires
Solution Approach 1:
The path planning system performs preliminary path planning before the vehicle executes headland turns. The controller determines the initial path, identifies restricted regions in advance, and calculates appropriate waypoints that ensure the vehicle avoids crops. This preliminary action prevents harmful tire-crop engagement before it occurs.
Solution Approach 2:
The path planning system acts as an intermediary between the autonomous vehicle control system and the field environment. It processes information about restricted regions and vehicle/implement dimensions to generate safe paths, mediating between the vehicle's movement commands and the physical constraints of the field to prevent harmful interactions.
3Ease of operation
If the operator directs the work vehicle along an inefficient path between swaths, then manual control flexibility is maintained, but the efficiency of the agricultural operation is reduced
Solution Approach 1:
The path planning system enables the autonomous work vehicle to automatically plan and execute its own path through headland turns, eliminating the need for manual operator intervention. The system self-determines optimal paths that avoid restricted regions while maximizing operational efficiency, allowing the vehicle to serve itself in path planning decisions.
Data Source
AI summary
A path planning system for a work vehicle includes a controller configured to determine an initial path between an end point of a first swath and a starting point of a second swath. In addition, the controller is configured to identify a restricted region positioned along the initial path, and to determine a first bounding point of the restricted region. The controller is also configured to determine a first waypoint based on the first bounding point. A distance between the first waypoint and the first bounding point is greater than or equal to half of a lateral extent of the work vehicle and less than half of a lateral extent of an implement. Furthermore, the controller is configured to determine an updated path that intersects the first waypoint, and to output signal(s) indicative of the updated path and/or instructions to direct the work vehicle along the updated path.