A New Path Planning Algorithm Based on the Virtual Ridges for an Agro-Machinery

摘要

This A new path planning algorithm of agro-machinery based on the virtual ridges is proposed in this paper. A virtual ridge is determined by the width of a real ridge and the operating width of the agro-machinery to make the agro-machinery operate effectively. First, the algorithm divides a rectangular plot into some basic units, and makes a complete and exclusive path plan in the basic unit. Then, the path planning algorithm in the basic unit is extended to the entire rectangular plot. The algorithm is proved to be effective in path planning and convenient for the agro-machinery headland turning.