摘要：AbstractIn order to enable the automatic navigation agricultural machinery effectively avoid the local static small obstacles in the field operation process, obstacle avoidance path planning method is studied for agricultural machinery in the case of known environmental information in this paper. Firstly, the obstacle avoidance path for a single small obstacle is proposed as the path consisting of three circular arcs, which solves the problem that agricultural machine holds minimum turning radius and is difficult to achieve line turning in the driving path. Then, the different situations of many small obstacles in the same driving path are analysed and the obstacle avoidance path planning method for many small obstacles is proposed when the obstacles are on the same driving path and in the relatively far distance. Finally, simulation study is conducted and the result proves that the proposed methods can plan effective path to avoid obstacles for automatic navigation agricultural machinery in complex conditions such as multiple obstacles with relatively far distances. The research works in this paper can provide essential references for obstacle avoidance path planning in other relevant fields.
