Taking into account terrain slopes when constructing optimized trajectories of agricultural machinery

Abstract

Abstract The process of optimizing the trajectories of soil cultivation and forage harvesting equipment across the field should, as much as possible, take into account and adapt to the features of the field relief. Moreover, a number of technological operations generally cannot be carried out without taking into account the slopes of the terrain, since the process may run counter to agrotechnical requirements. The analysis of various approaches to accounting for the relief, the cultivated agricultural landscape, made it possible to generalize the most important features that have reserves for optimization. Algorithms have been developed that, taking into account the magnitude of the slopes in a given field, determine the trajectories of the vehicle and optimize the time and fuel consumption. The construction of tracks for single work, group work on individual paddocks, group work by a link, incl. on the paddocks.