Optimum harvesting area of convex and concave polygon field for path planning of robot combine harvester
Optimum harvesting area of convex and concave polygon field for path planning of robot combine harvester
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DOI：
10.1007/s11370-018-00273-4
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发表时间：
2019-04-01
影响因子：
2.5
通讯作者：
Noguchi, Noboru
中科院分区：
文献类型：
--
作者：
Rahman, Md. Mostafizar;Ishii, Kazunobu;Noguchi, Noboru
针对机器人联合收割机的路径规划问题，提出了一种凸凹多边形的最优收获面积。针对凸、凹多边形，提出了一种方便的最佳收获区域。其思想是，需要专门为机器人联合收割机进行路径规划，以选择农作物田地的最佳收割区；否则，在田地收获过程中，可能会发生作物损失。为了使机器人联合收割机有一个安全的转弯边缘，在边界区附近的周围作物通过人工操作被切割两到三次。然而，周围的切割作物并不是完全笔直的，有时它是弯曲的或蜿蜒的。此外，用传统的AB点方法进行路径规划，以便通过视觉观察从全球定位系统获得拐角位置，是一项耗时的操作。弯曲或曲折的作物在收获期间不会被割下留在田里，收获区域也不是最优的。为此，提出了一种合适的N-多边形算法和凸壳分裂交叉点法确定最优收获区域进行路径规划，减少了田间农作物的损失。结果表明，该算法能够估计出凸、凹多边形田及其角点的最优收获面积，并能获取所有作物部分，减少作物损失。文中还说明了基于角点计算的工作路径使总的运算处理时间最小。
This paper presents an optimum harvesting area of a convex and concave polygon for the path planning of a robot combine harvester. A convenient optimum harvesting area for a convex and concave polygon is proposed. The notion is that path planning specifically for a robot combine harvester is required to choose the crop field optimum harvesting area; otherwise, crop losses may occur during harvesting of the field. For a safe turning margin of the robot combine harvester, the surrounding crop near the boundary zone is cut twice or thrice by manual operation. However, this surrounding cutting crop is not exactly straight, and sometimes it is curved or meanders. In addition, path planning with a conventional AB point method in order to take a corner position from the global positioning system by visual observation is a time-consuming operation. A curved or meandering crop is not cut and left in the field during harvesting, and the harvesting area is not optimum. Therefore, a suitable N-polygon algorithm and split of convex hull and cross-point method for determining the optimum harvesting area for path planning are proposed, which reduce the crop losses in the field. The results show that this developed algorithm estimates the optimum harvesting area for a convex or concave polygon field and its corner vertices, takes all crop portions, and reduces crop losses. It is also illustrated that the working path calculated based on the corner vertices minimizes the total operational processing time.