Optimal Path of Headland for Tractors by Optimal Control Theory (Part 2)

Combination of Forward and Backward Maneuvers

Abstract

We dealt with minimum time/path control problem of tractors on headland. The same method described in Part 1 was used to find the optimum time/path solution. As we expanded the direction of the motion of tractors to include reverse motion, we tended to fail in getting the satisfactory solutions. We, therefore, introduced alternatives that incorporated a constant value input method and a geometrical approach. Using this idea, we got better results for the minimum time/path control of headland turning maneuvers.