Optimal path planning for an agricultural vehicle
Systems and methods are provided for planning an agricultural operation for an agricultural machine in a working environment. This Includes determining a boundary for the working environment; determining a plurality of boundary segments for the boundary; and determining, for each of the boundary segments, a candidate operational path. A performance metric associated with the determined operational path for the boundary segment is used to select a primary boundary segment which is optimized for a given metric of the operation. Operational components associated with the agricultural machine can then be controlled based on the determined operational path, e.g. to guide the machine along the path or present the path to an operator.
1 . A method of planning an agricultural operation for an agricultural machine in a working environment, the method comprising:
determining a boundary for the working environment as a field boundary polygon defined by a plurality of points;
determining a plurality of boundary segments for the boundary through comparison of a change in heading between paths associated with consecutive points of the plurality of points of the field boundary polygon with a threshold turning angle, determining the plurality of boundary segments further comprising:
determine a length for each of the boundary segment of plurality of boundary segments;
compare the determined length of each of the boundary segments of plurality of boundary segments with a threshold length; and
based at least partially on the comparison, determine a subset of boundary segments;
determine at least one boundary segment of the plurality of boundary segments as encompassing each of the consecutive points of the field boundary polygon associated with a determined change in heading which is less than the threshold turning angle;
determining, for each of the boundary segments, a candidate operational path;
determining, for each boundary segment, a performance metric associated with the candidate operational path for the boundary segment;
selecting a primary boundary segment from the plurality of boundary segments in dependence on the determined performance metrics; and
controlling one or more operational components associated with the agricultural machine in dependence on the determined operational path for the primary boundary segment.
2 . A control system for planning an agricultural operation for an agricultural machine in a working environment, the control system comprising one or more controllers, and being configured to:
determine a boundary for the working environment as a field boundary polygon defined by a plurality of points;
determine a plurality of boundary segments for the boundary through comparison of a change in heading between paths associated with consecutive points of the plurality of points of the field boundary polygon with a threshold turning angle;
identify, for each of the boundary segments of the plurality of boundary segments, each of the points of the plurality of points defining the field boundary polygon corresponding to the boundary segment;
determine, for each of the boundary segments of the plurality of boundary segments, a distance between the points of the plurality of points corresponding to the boundary segment and the boundary segment; and position the boundary segment in relation to a mapped working environment in dependence on the distance;
determine at least one boundary segment of the plurality of boundary segments as encompassing each of the consecutive points of the field boundary polygon associated with a determined change in heading which is less than the threshold turning angle;
determine, for each of the boundary segments, a candidate operational path;
determine, for each boundary segment, a performance metric associated with the candidate operational paths;
select a primary boundary segment from the plurality of boundary segments in dependence on the determined performance metrics; and
generate and output a control signal for controlling one or more operational components associated with the agricultural machine in dependence on the operational path for the primary boundary segment.
3 . The control system of claim 2 , wherein the boundary for the working environment is determined from mapped data of the working environment; and wherein the mapped data is generated automatically; and wherein the control system is configured to receive an operator input defining, at least in part, the boundary for the working environment.
4 . The control system of claim 2 , further configured to determine the plurality of boundary segments in dependence on the points of the polygon.
5 . The control system of claim 4 , further configured to:
determine a subset of points for the boundary polygon defining a simplified boundary polygon for the working environment; and
determine the boundary segments in dependence on at least one of the subset of points or the simplified boundary polygon.
6 . The control system of claim 5 , further configured to apply a curve simplification algorithm for the points of the boundary polygon to determine the subset of points of the simplified boundary polygon, wherein the simplification algorithm comprises a Ramer-Douglas-Peucker algorithm.
7 . The control system of claim 2 , further configured to define an endpoint for a boundary segment at a point of the polygon associated with a change in heading which exceeds the threshold turning angle.
8 . The control system of claim 2 , further configured to:
determine a subset of boundary segments; and
determine the performance metric for the boundary segments of the determined subset.
9 . The control system of claim 8 , further configured to:
determine a length for each of the boundary segments;
compare the length of each of the boundary segments with a threshold length; and
determine the subset of boundary segments in dependence on the comparison.
10 . The control system of claim 2 , further configured to determine a candidate operational path in dependence on a heading parameter for each of the boundary segments.
11 . The control system of claim 10 , wherein the candidate operational path for each boundary segment comprises a set of rows parallel to the heading of the boundary segment, and extending across the working environment.
12 . The control system of claim 2 , further configured to determine the primary boundary segment in dependence on a comparison of the performance metrics determined for each boundary segment.
13 . The control system of claim 2 , wherein the performance metric comprises a measure of the number of rows of each candidate operational path; and wherein the control system is configured to determine the primary boundary segment as the boundary segment corresponding to the operational path comprising the fewest number of rows.
14 . The control system of claim 2 , wherein the performance metric comprises a measure of an overlap of the operational path; and wherein the control system is configured to determine the primary boundary segment as the boundary segment corresponding to the operational path comprising at least one of the fewest number of overlaps or the smallest overlap area.
15 . The control system of claim 2 , wherein the performance metric comprises a measure of soil compaction associated with the candidate operational paths; and wherein the control system is configured to determine the primary boundary segment as the boundary segment corresponding to the operational path determined to have the lowest soil compaction impact.
16 . The control system of claim 2 , further configured to present the operational path associated with the primary boundary segment to an operator of the agricultural machine; and wherein the operational path is presented on at least one of: a display screen associated with the machine; or on a remote device.