Development of the turn algorithm of an autonomous combine harvester at the corner of paddy fields

Abstract

One of the problems that occur in harvesting rice using a combine harvester is when at the corner of the paddy field, especially in harvesting the outermost path. The outer harvesting path is very close to the edge of the paddy field, so that the free space for its maneuverer is very limited. This study aims to develop an algorithm to overcome difficulties when the combine harvester turns at the corner of the paddy field. The turning algorithm was designed using two methods: turning 90° without backward movement and turning 90° with backward movement. The first method is applied to several paths closest to the paddy field bunds, while the second method is applied to the remaining paths close to the midpoint of the paddy fields. The reason for applying the second method in the middle of the paddy field is that there is sufficient free space for backward movement. The combination of the two methods was tested on a simulated paddy field area of 225 m2. The test results of the combination of the two turning methods showed that the total area of the plant that was not cut was 3.25 m2, with an average turning time of 12.4 seconds.