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Real-Time Parametric Path Planning Algorithm for Agricultural Machinery Kinematics Model Based on Particle Swarm Optimization

Author

Listed:
  • Lihong Xu

    (School of Electronic and Information Engineering, Tongji University, Shanghai 201804, China)

  • Jiawei You

    (School of Electronic and Information Engineering, Tongji University, Shanghai 201804, China)

  • Hongliang Yuan

    (School of Electronic and Information Engineering, Tongji University, Shanghai 201804, China)

Abstract

In order to meet the obstacle avoidance requirements of unmanned agricultural machinery in operation, it is necessary to plan a path to avoid obstacles in real time after obstacles are detected. However, the traditional path planning algorithm does not consider kinematic constraints, which makes it difficult to realize the plan, thus affecting the performance of the path tracking controller. In this paper, a real-time path planning algorithm based on particle swarm optimization for an agricultural machinery parametric kinematic model is proposed. The algorithm considers the agricultural machinery kinematic model, defines the path satisfying the kinematic model through a parametric equation, and solves the initial path through the analytic method. Then, considering the constraints of obstacles, acceleration, and turning angle, two objective functions are proposed. The particle swarm optimization algorithm is used to search the path near the initial path which satisfies the obstacle avoidance condition and has a better objective function value. In addition, the influence of the algorithm parameters on the running time is analyzed, and the method of compensating the radius of the obstacle is proposed to compensate the influence of the discrete time on the obstacle collision detection. Finally, experimental results show that the algorithm can plan a path in real time that avoids any moving obstacles and has a better objective function value.

Suggested Citation

  • Lihong Xu & Jiawei You & Hongliang Yuan, 2023. "Real-Time Parametric Path Planning Algorithm for Agricultural Machinery Kinematics Model Based on Particle Swarm Optimization," Agriculture, MDPI, vol. 13(10), pages 1-17, October.
    • Handle: RePEc:gam:jagris:v:13:y:2023:i:10:p:1960-:d:1255337
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    References listed on IDEAS

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    1. Rajnish Kler & Roshan Gangurde & Samariddin Elmirzaev & Md Shamim Hossain & Nhut V. T. Vo & Tien V. T. Nguyen & P. Naveen Kumar & Peiman Ghasemi, 2022. "Optimization of Meat and Poultry Farm Inventory Stock Using Data Analytics for Green Supply Chain Network," Discrete Dynamics in Nature and Society, Hindawi, vol. 2022, pages 1-8, October.
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    Cited by:

    1. Wenbo Wei & Maohua Xiao & Weiwei Duan & Hui Wang & Yejun Zhu & Cheng Zhai & Guosheng Geng, 2024. "Research Progress on Autonomous Operation Technology for Agricultural Equipment in Large Fields," Agriculture, MDPI, vol. 14(9), pages 1-20, August.

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