Successful use of an auto-guided agricultural machine in paddy fields depends on the ability to generate a full-coverage path consisting of inner and outer-work paths adapted to various field shapes in the presence of an enclosing field boundary. To enhance the performance of a coverage path planner (CPP) developed in our previous study, this article describes the development of a complete CPP for a fully autonomous tillage tractor that provides automatic generation of both inner and outer-work paths, and boundary corner turning methods applicable to polygonal-shaped paddy fields with various corner angles. Computer simulation of the developed turning manoeuvres was conducted using a 3D tractor-driving simulator by analysing the trajectories of a virtual tractor on ground under varying corner angle conditions. A field evaluation was performed with a 60-kW auto-guided tillage tractor equipped with the developed CPP in three different shapes of paddy fields. The results of the computer simulation confirmed that the designed boundary corner turning methods could provide an acceptable level of tracking performance with lateral deviations <70 mm when following boundary corner turning paths. In the field tests, the autonomous tillage tractor successfully followed the whole paths with lateral and heading root-mean-squared errors ranging from 32 to 101 mm and 0.6°–2.2°, respectively, and demonstrated superior tillage performance by reducing the skipped areas of 1.7% (triangle), 0.9% (quadrilateral), and 1.0% (pentagon) of the total area as compared with that of 8.5% obtained with the previously developed system.

自动引导农业机械在稻田中的成功使用取决于在封闭的田间边界存在的情况下生成由适应各种田地形状的内部和外部工作路径组成的全覆盖路径的能力。为了提高我们之前研究中开发的覆盖路径规划器 (CPP) 的性能，本文描述了为全自动耕作拖拉机开发的完整 CPP，可自动生成内部和外部工作路径以及边界转角适用于具有各种角角的多边形稻田的方法。通过分析虚拟拖拉机在不同角角条件下在地面上的轨迹，使用 3D 拖拉机驾驶模拟器对开发的转弯操作进行计算机模拟。使用配备开发的 CPP 的 60 kW 自动引导耕作拖拉机在三种不同形状的稻田中进行田间评估。计算机模拟的结果证实，设计的边界拐角转向方法可以在遵循边界拐角转向路径时提供可接受水平的跟踪性能，横向偏差 <70 mm。在田间试验中，自主耕作拖拉机成功地跟踪了整个路径，横向和航向均方根误差范围分别为 32 至 101 毫米和 0.6° 至 2.2°，并通过减少跳过的区域展示了优越的耕作性能。与以前开发的系统获得的 8.5% 相比，总面积的 1.7%（三角形）、0.9%（四边形）和 1.0%（五边形）。