Using continuous-curvature paths to generate feasible headland turn manoeuvres

• Method generates headland turns for parallel tracks with continuous-curvature paths.
• Nine headland turn manoeuvres are provided with minimal computational time.
• Determination and analysis of different types of turn manoeuvres.

Today's agricultural engineering is characterised by automation and information technology. Automatic steering systems have become an adequate tool for guidance on a track with accuracy in the range of centimetres. Consequently, the transition from track to track must be planned exactly, so that the target track is achieved precisely. A method which can generate turn trajectories – so-called headland turns - with smooth transition and a fast computation performance is investigated. The method is based on the continuous-curvature path planning in the field of mobile robotics and is connected to the specific agronomic requirements. In this context the clothoid construction element constitutes the main construction element. It enables the smooth connection from zero curvature to maximal curvature which represents the reciprocal of the minimal turning radius. In totality, a manoeuvre can be planned with modified Dubins curves, both going backwards and forwards is feasible with modified Reeds and Shepp curves. Seven different manoeuvres are useful from an agronomic point of view. It is shown that all turn manoeuvres are feasible with this method. Also an analysis regarding the trajectory length, the headland width and the operation time is shown.

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