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

• Published in: Agriculture (Basel) Vol. 13; no. 10; p. 1960
• Main Authors: Xu, Lihong, You, Jiawei, Yuan, Hongliang
• Format: Journal Article
• Language: English
• Published: Basel MDPI AG 01.10.2023
• Subjects: Agricultural equipment; Agricultural equipment and supplies industry; Agricultural technology; Agriculture; Algorithms; Efficiency; Energy consumption; Farm machinery; Farmworkers; Kinematics; kinematics model; Labor force; Mathematical optimization; Moving obstacles; Objective function; Obstacle avoidance; Optimization algorithms; Parametric equations; Particle swarm optimization; Path planning; path planning algorithm; Path tracking; Real time; Robots; Tracking control; unmanned agricultural machinery; unmanned farm

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...