Dynamische Reaktive Führung und Wegplanung für Autonome Arbeitsfahrzeuge

Details

Veröffentlichungs-Nr.

EP4748215

Anmeldetag

10. November 2025

Veröffentlichung

27. Mai 2026

Rechtsraum

EP

IPC

A01B69/00, A01B69/04

Abstract

Systems are disclosed for generating safe and efficient guidance paths for a tractor-implement combination navigating orchards or rowed fields. Range sensors capture scene data, and a segmentation model produces an occupancy grid identifying tree-line obstacles, impassable obstacles, passable canopy, and ground. The path planning module generates candidate trajectories seeded by current steering and articulation angles, drawing from a library of curvature primitives. Each candidate trajectory is simulated through a kinematic model and tested against the occupancy grid to ensure clearance. Survivors are evaluated using weighted cost functions that balance canopy contact, alignment with lane or headland targets, deviation from mapped goal paths, and obstacle avoidance. The lowest-cost trajectory is refined into a final guidance path, and control commands are generated to actuate steering and propulsion. The process runs continuously at sensor frame rates, enabling adaptive, obstacle-aware navigation of agricultural vehicles under dynamic condition.

Anmelder

Firma

Deere & Company

Land

🇺🇸 USA