Publication
Infield Path Planning for Autonomous Unloading Vehicles
Stephan Scheuren; Joachim Hertzberg; Stefan Stiene; Ronny Hartanto
In: Michael Clasen (Hrsg.). Referate der 33. GIL-Jahrestagung in Potsdam 2013 - Massendatenmanagement in der Agrar- und Ernährungswirtschaft. Gesellschaft für Informatik in der Land-, Forst- und Ernährungswirtschaft (GIL-2013), February 20, Potsdam, Germany, Pages 295-298, ISBN 978-3-88579-605-3, Köller Druck+Verlag GmbH, 2/2013.
Abstract
In agricultural harvesting processes, the infield logistics of transporting the crop from the harvesters' tanks to a street transporter at the field border with an unloading vehicle is challenging. The harvesters have to be unloaded while driving and in time to prevent the loss of expensive process time. The path planning for the unloading vehicle has to consider the unharvested area as a dynamic obstacle and cope with additional constraints like the harvester's kinematics, dynamics and its unloading direction. We present an approach for infield path planning for autonomous unloading vehicles that tackles these problems.