Robotic Path Planning for Rice Seeding in Hilly Terraced Fields
Wenwu Yang,
Congquan Gong,
Xilin Luo,
Yong Zhong,
Ennan Cui,
Jianhao Hu,
Shiyu Song,
Haoyang Xie,
Weiman Chen
Affiliations
Wenwu Yang
Key Laboratory of Key Technology on Agricultural Machine and Equipment, Ministry of Education, College of Engineering, South China Agricultural University, Guangzhou 510642, China
Congquan Gong
Key Laboratory of Key Technology on Agricultural Machine and Equipment, Ministry of Education, College of Engineering, South China Agricultural University, Guangzhou 510642, China
Xilin Luo
Key Laboratory of Key Technology on Agricultural Machine and Equipment, Ministry of Education, College of Engineering, South China Agricultural University, Guangzhou 510642, China
Yong Zhong
Key Laboratory of Key Technology on Agricultural Machine and Equipment, Ministry of Education, College of Engineering, South China Agricultural University, Guangzhou 510642, China
Ennan Cui
Key Laboratory of Key Technology on Agricultural Machine and Equipment, Ministry of Education, College of Engineering, South China Agricultural University, Guangzhou 510642, China
Jianhao Hu
Key Laboratory of Key Technology on Agricultural Machine and Equipment, Ministry of Education, College of Engineering, South China Agricultural University, Guangzhou 510642, China
Shiyu Song
Key Laboratory of Key Technology on Agricultural Machine and Equipment, Ministry of Education, College of Engineering, South China Agricultural University, Guangzhou 510642, China
Haoyang Xie
Key Laboratory of Key Technology on Agricultural Machine and Equipment, Ministry of Education, College of Engineering, South China Agricultural University, Guangzhou 510642, China
Weiman Chen
Key Laboratory of Key Technology on Agricultural Machine and Equipment, Ministry of Education, College of Engineering, South China Agricultural University, Guangzhou 510642, China
To realize the autonomous operation of a terraced rice sowing robot, a set of sowing robot operation path planning algorithms with universal significance for small, irregular terraced plots is proposed. According to the characteristics of terraces and the agronomic requirements of sowing seeding, the operation path mainly includes parallel operation and boundaries surrounding the operation path. The boundary pre-collision detection method is expounded, and the cyclic detection method judges the U-turn area. The Bézier curve fitting algorithm was used to smooth the boundary wrapping path. To verify the feasibility of the algorithm, four typical irregular small fields located in 666.7-hectare terraces of Sama in Hong He Prefecture, Yunnan Province, were randomly selected, and a field map was obtained through Google Earth. An existing seeding robot was used as a model, and the simulation and comparison tests were carried out with the mainstream EHNS algorithm and boundary polyline algorithm under the ROS-kinetic platform in the Cen Village Scientific Research Base of South China Agricultural University. The actual boundaries of the four fields with the same simulation test were used as the map to verify the field experiment. The simulation test results show that the area coverage of the sowing operation is greater than 93.53% and the replay rate is less than 3.46%, and the field test results show that the area coverage of the sowing operation is greater than 94.33% and the replay rate is less than 3.03%. The simulation test is in good agreement with the field test results, indicating that the algorithm has good adaptability, which meets the requirements of a sowing robot for sowing operation path planning and can provide a certain reference for the path planning of irregular field operation robots in hilly and mountainous areas.
