Abstract Articulated vehicles composed of a tractor and several passive trailers are commonly used for transportation purposes in agricultural applications. The increment of the number of trailers increases the payload capacity, but on the other hand, it also implies serious motion constraints, especially in turning scenarios where there is a greater risk of collisions with the crops. In this context, to reduce dangerous maneuvers during the headland turning scenarios, this paper presents a headland turning algorithmization for the N-trailers, characterized by unifying the motion planning stage with the motion control stage, in contrast to most of the available solutions which treat these stages independently. The proposed algorithmization delivers an admissible headland reference path and the location of the vehicle guidance point for the path-following task, to reduce both possible collisions with the crop and the inter-segment collisions. The proposed approach was validated by solving several illustrative problems which address various field/crop dimensions and vehicles with different number of trailers. The results showed that the proposed system can find and execute a safe maneuver in a broad range of known situations from the agricultural domain.

中文翻译：

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农业场景下自主N拖车的岬角转向算法

摘要 由拖拉机和多辆被动拖车组成的铰接式车辆通常用于农业应用中的运输目的。拖车数量的增加增加了有效载荷能力，但另一方面，它也意味着严重的运动约束，尤其是在与农作物碰撞风险更大的转弯场景中。在此背景下，为了减少在岬角转弯场景中的危险操作，本文提出了一种 N 拖车的岬角转弯算法，其特点是将运动规划阶段与运动控制阶段统一起来，与大多数可用的解决方案相比这些阶段独立。所提出的算法为路径跟踪任务提供了一个可接受的岬角参考路径和车辆引导点的位置，以减少与作物的可能碰撞和段间碰撞。通过解决解决各种田地/作物尺寸和具有不同拖车数量的车辆的几个说明性问题，对所提出的方法进行了验证。结果表明，所提出的系统可以在农业领域的广泛已知情况下找到并执行安全操作。