ALGORITHM FOR OPTIMIZING THE MOVEMENT OF A MOUNTED MACHINETRACTOR UNIT IN THE HEADLAND OF AN IRREGULARLY SHAPED FIELD

Abstract

Increasing the productivity of machine tractor units when cultivating the field is achieved by reducing the work time, which usually relates to seeking the shortest path of the unit in the field. Reducing the length of headland turns, which account for the largest proportion of the unit non-working moves, will result in higher productivity as well as less soil compaction in the headland. The article presents an algorithm for selection of a turn in the headland of a field of irregular shape. Existing theoretical correlations have been used to determine the length of the non-working move and the headland width when making T-turns. The selection of a turn is made on the basis of the minimum length of the non-working move, after which the width of the needed headland for the selected turn is calculated. This algorithm can be added to the on-board computer of the unit thus providing a more efficient way of moving, automatically generating a headland and following the trajectory of the selected turn by the unit.