2015 Volume 77 Issue 6 Pages 464-469
This paper proposes a corner harvesting control for reliable turning at headlands during automatic harvesting operations using a head-feeding combine robot. On the basis of field experiments with a 4-row head-feeding combine robot, the proposed control methodology enabled the robot to make turns without trampling crop down or leaving any crops uncut. Regarding the accuracy of following the target path, the maximal lateral error of corner harvesting was 0.102m, and the maximal lateral error was 0.064m, and the angle error at the next target path after turning was 8.10°.
