Motion Planning for Autonomous Grain Carts
نویسندگان
چکیده
When harvesting grain crops on large farms, a combine collects the while cart transports by commuting between and semi-trailer parked roadside. There are several issues associated with human-operated carts: labor shortage increasing cost, operational imprecision inefficiency as well safety hazards, all of which can potentially be addressed if carts were autonomous. This paper presents motion planning algorithm navigation solution for autonomous carts. The features novel integration Artificial Potential Field (APF) Fuzzy Logic Control (FLC). A set simulation tests carried out, comparing proposed APF+FLC planner simple APF planner. test results verified effectiveness, robustness, efficiency in performing logistical tasks harvest operations where unharvested only obstacles when random static or dynamic existed. In addition, mobile robot implementing conducted, representing autonomously accomplished operations, verifying effectiveness practicality solution.
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ژورنال
عنوان ژورنال: IEEE Transactions on Vehicular Technology
سال: 2021
ISSN: ['0018-9545', '1939-9359']
DOI: https://doi.org/10.1109/tvt.2021.3058274