Two-Dimensional Path Planning Platform for Autonomous Walk behind Hand Tractor

Abstract

The use of autonomous vehicles in agriculture has increased in recent years. To fully automate agricultural missions, particularly the tillage process using the walk-behind hand tractor, the path planning problem for the robot must be solved so that all points in the intended region of interest may be traced. The current planning algorithm has been successful in determining the best tillage path. On the other hand, the algorithm ignores the path built using the dynamic starting point, finish point and path distance. We propose a path planning concept for back-and-forth path patterns. Our algorithm employs a novel approach based on Laravel and Google Maps, which considers the user’s desired distance interval, start point, and finish point. We demonstrated auto-generating vertex-edge pathways in this research. Field trials using a walk-behind hand tractor in a plowing mission have been successfully conducted to validate the accuracy of the resulting waypoint coordinates.

Keywords

• path planning
• back-forth path
• hand tractor
• tillage
• unmanned ground vehicle