Path planning of headland turn manoeuvres

Abstract: Satellite-based navigation systems offer the possibility to steer agricultural machinery on the field automatically within a range of centimeters. A reference line is recorded and – based on the position – shifted, so that the entire field can be covered with parallel tracks. However, automatic turn manoeuvres from path to path are not yet part of the standard scope of steering systems. This article presents a method to generate feasible headland turn manoeuvres. Speed, minimum turning radius and the systemic steering speed are used as vehicle-specific parameters to plan feasible trajectories. An adaptation of the continuous-curvature path planning – known from mobile robotics – is applied. It was verified that the generated turn routines could be driven by real machines with steering systems. A precise connection between turn manoeuvre and track was ensured. https://www.landtechnik-online.eu/landtechnik/article/view/92

Object Details

• Location: Deutsche Nationalbibliothek Frankfurt am Main
• Extent: Online-Ressource
• Language: Englisch

References and Relationships

• Bibliographic citation: Path planning of headland turn manoeuvres ; volume:70 ; number:4 ; day:30 ; month:07 ; year:2015 ; Landtechnik ; 70, Heft 4 (30.07.2015)

Contributors, Places and Time

• Creator: Dennis Sabelhaus ; Peter Schulze Lammers ; Lars Peter Meyer zu Helligen ; Frank Röben

Further information

• DOI: 10.15150/lt.2015.2666
• URN: urn:nbn:de:101:1-2020052916165401550101
• Rights: Open Access; Der Zugriff auf das Objekt ist unbeschränkt möglich.
• Last update: 14.08.2025, 10:45 AM CEST