Abstract
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.
Highlights
Development of an agricultural robot involves making the operator’s work easier in the agricultural industry
Automatic path planning is an important topic for robotic agricultural vehicles
This paper described an automatic path planning algorithm for a robot combine harvester to harvest wheat or paddy that is not in a row
Summary
Development of an agricultural robot involves making the operator’s work easier in the agricultural industry. This paper’s research objective is to develop an algorithm that can estimate the optimum harvesting area for a convex or concave polygon field and determine the corner vertex to calculate the working path of a robot combine harvester. The main contribution of this paper is to develop an optimum harvesting area method for convex and concave polygons for the path planning of robot combine harvester. This reduces crop losses and minimizes the operational processing time for path planning.
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