Trajectory Planning Optimization for Farming Using Automated Tractor

Trajectory planning connects the starting and ending points while taking into account various limitations. This procedure is critical for the autonomous functioning of automated vehicles. This article is presenting a trajectory planning scheme for solving the dynamic optimization problem with boundary, mechanical, environmental constraints and kinematic differential equations. Existing techniques frequently fail to satisfy constraint for mesh points, resulting in failures in real-world applications. To address this, the idea of minute mesh grid is proposed, that ensures the meeting out of all the limitations. Using large-scale restrictions with appropriate penalty functions successfully integrated into the optimization, changing the dynamic optimization process to a static one with well-defined limits for choice variables. Three distinct optimization objectives were tested. The best result achieved was 31.58 seconds (ACO) and 30.8 seconds (PSO) for minimum travel time. Minimum Path Length for shortest optimized path is 42.1 m (ACO) and 44.2 m (PSO). The best maneuver time is 0 adjustments for ACO and 1 adjustments for PSO. The findings are indicating that the proposed optimization approach is consistently producing reliable solutions for effective handling of specified objectives. The proposed work enhances autonomous vehicle navigation, ensuring obstacle avoidance and efficient trajectory tracking for agricultural automation.