<abstract xmlns="http://www.w3.org/1999/xhtml">
<p>This paper presents a method of utilizing a transition curve in planning the movement trajectory of agricultural machinery during the headland turns. The approach involves using the transition curve, whose curvature and tangent angle are described by the trigonometric function. For the designed course, the kinematic quantities, wheel turning angles, and their rates of change were determined for two models of agricultural tractors. The algorithm proposed in this study ensures continuity and smooth changes in the kinematic quantities and can be applied to the trajectory planning of agricultural implements and machines, autonomous vehicles, mobile robots, manipulators, and CNC machines.</p>
</abstract>

This paper presents a method of utilizing a transition curve in planning the movement trajectory of agricultural machinery during the headland turns. The approach involves using the transition curve, whose curvature and tangent angle are described by the trigonometric function. For the designed course, the kinematic quantities, wheel turning angles, and their rates of change were determined for two models of agricultural tractors. The algorithm proposed in this study ensures continuity and smooth changes in the kinematic quantities and can be applied to the trajectory planning of agricultural implements and machines, autonomous vehicles, mobile robots, manipulators, and CNC machines.

Trajectory Planning For Tractor Turning Using The Trigonometric Transition Curve

Department of Mechanical Engineering and Automation

Agricultural Engineering

This work is licensed under the Creative Commons Attribution 4.0 International License.

{"article-title":"Trajectory Planning For Tractor Turning Using The Trigonometric Transition Curve"}

This paper presents a method of utilizing a transition curve in planning the movement trajectory of agricultural machinery during the headland turns. The...

Trajectory Planning For Tractor Turning Using The Trigonometric Transition Curve

Publicado en línea: 13 sept 2023

Páginas: 203 - 212

Recibido: 01 abr 2023

Aceptado: 01 ago 2023

DOI: https://doi.org/10.2478/agriceng-2023-0015

Palabras clave
trajectory planning, headland maneuvers, trigonometric transition curve, smooth trajectory

© 2023 Marek Boryga, published by Sciendo

This work is licensed under the Creative Commons Attribution 4.0 International License.

Trajectory Planning For Tractor Turning Using The Trigonometric Transition Curve

Publicado en línea: 13 sept 2023

Páginas: 203 - 212

Recibido: 01 abr 2023

Aceptado: 01 ago 2023

DOI: https://doi.org/10.2478/agriceng-2023-0015

Palabras clavetrajectory planning, headland maneuvers, trigonometric transition curve, smooth trajectory

© 2023 Marek Boryga, published by Sciendo

This work is licensed under the Creative Commons Attribution 4.0 International License.

Palabras clave
trajectory planning, headland maneuvers, trigonometric transition curve, smooth trajectory