緩和曲線を有する旋回経路自動生成アルゴリズムによる農作業自動走行高精度化とAndroidアプリによる実装

抄録

This research develops an algorithm that generates an optimal travel path by introducing turning paths using relaxation curves. The travel path for a GNSS-based automatic steered tractor have to be generated with taking the tractor's travel characteristics into account. The algorithm can be applied to the field of the shape without discontinuous side consists, and is implemented as an android application the controlling terminal that with is mounted on a tractor. The outline of the field is obtained by touching the vertices on the field displayed by OpenStreetMap to obtain the location information of the vertices. The polygons are generated from the acquired vertices, and the width of the headland is determined according to the turning path. A clothoid curve is used for the turning path. The sequence of the work path is determined so that the turning can be conducted only forward direction (without backward) movement as much as possible, and finally the overall travel path is generated. The time required for 15 manual tractor turns driven by a male farmer was compared with the simulation time required to trace along the output turning path generated by proposed algorithm. When the minimum turning radius was set to 2.5 m, the time was reduced by about 17.2%, when the minimum turning radius was set to 2.8 m, the time was reduced by about 5.3%, and when the minimum turning radius was set to 3.0 m, the time was extended by about 8.7%.