Path Planning Algorithms for a GPS based

Electronic Tow Bar

Dr. agr. Patrick O. Noack, Bernd Kammerbauer, Dipl.Ing. Martin Schnfelder
geo-konzept GmbH, Germany
Abstract

As other industries agricultural production is under permanent pressure to reduce costs. The economies
of scale imposes the growth of farming operations and the development of larger machinery. On the
other hand, both size and weight of tractors and implements are limited by the demand to transfer
agricultural machinery on public roads.
GPS based automated steering systems have been established in agriculture since almost a decade. The
systems are designed to keep tractors and implements on defined parallel tracks. Automated steering
systems can save up to 10% of the variable costs by reducing overlaps and gaps during all farming
operations.
AGCO Germany, the Technical University of Karlsruhe and geo-konzept GmbH have started a joint
research project in order develop an electronic tow bar (EDA = Elektronische Deichsel fr
Arbeitsmaschinen). The electronic tow bar is based on existing automated steering systems. It aims at
navigating an unmanned tractor on a path predefined by the track of a manned tractor. Only one driver
operating the team of tractors establishes a situation where two standard tractors are handled as a
single machine in the field. Transferring machinery from farm to field requires two drivers, but the
dimensions still allow for legal operation on public roads.
The project focuses on developing technology for data transfer between the tractors, a security
monitoring system as well as algorithms for path planning and steering. This article outlines the path
planning algorithms required for parallel swathing, obstacle avoidance and turning on headlands.

Keywords

GPS, Automated Steering, Path Planning, Electronic Tow Bar

1 INTRODUCTION

Market prices for all agricultural products are determined by the demand from the global market. Even
large farming operations have little influence on the price they can obtain when selling their goods.
Therefore the profit of farming operations is mainly dependant on the production costs.
Machinery costs and wages substantially affect the proportional costs in plant production. The larger
the machinery, the lower the proportional costs the for acquisition of machinery, depreciation and
wages. The size of agricultural machinery is delimited by legal restrictions on the size of vehicles
operated on public roads. As these limits have already been exploited, there is currently no potential
for the reduction of machinery costs.
GPS based automated steering systems were introduced into agriculture since the late 1990s. They
steer tractors on or parallel to reference lines. They help to reduce overlaps and gaps and thus heavily
decrease proportional costs in plant production.
The concept of the electronic tow bar is based on the idea to use existing steering technology and path
planning algorithms to help an unmanned tractor follow a manned tractor and thus create a team of
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tractors operated by one driver which is acting like a single big machine in the field. Unlike a
single oversized tractor, the team of tractors can still be operated independently on public roads
without exceeding legal regulations.

1.1 GPS based Automated Steering Systems

GPS based steering systems consist of a GPS receiver, an array of gyroscopes and accelerometers, a
steering angle sensor, a navigation controller and an electromagnetic steering valve. Some of the
components may already be preinstalled when the tractor is assembled (steering angle sensor, steering
valve).
An automated steering system compares the tractors position corrected for pitch, roll and yaw with
the desired position on or parallel to a reference line. The steering angle optimal for reaching the
desired line is derived from the tractors speed, heading and current steering angle by the navigation
controller. The controller is actuating the steering valve and continuously tries to adjust the optimal
steering angle. The above mentioned process is referred to as steering control.
The reference lines employed for steering control are usually straight or curved, but in any case
parallel. Parallel lines are usually sufficient, when single vehicles are to follow an efficient traffic
pattern in a field.

1.2 The Electronic Tow Bar Modules and components

The electronic tow bar consists of several components and modules. The project aims at reusing
existing technology where feasible. Therefore existing steering systems incorporating GPS receivers,
motion compensation modules, steering angle sensors and electro-magnetic valves are integrated into
the electronic bar.
Besides path planning, the main challenges of the project are to establish a wireless broadband
communication between the manned and the unmanned tractor and to monitor the communication and
the commands issued by different modules with respect to security and stability of the system and its
environment.

1.2.1 Communication module

The communication module is designed to establish a stable long-range broadband communication
between the manned and the unmanned tractor. It consists of two radio modems and two controllers
for communication monitoring. During the coupling process, the communication module secures that
the communication is permitted by both machines/operators and that the exchange of messages and
commands is exclusive for the coupled vehicles.
The communication module receives and forwards information on position, speed, heading, and
implement status from the tractor and the automated steering systems between the two coupled
systems. It also monitors the system statuses and system modes (e.g.: standard mode, turning mode) of
both systems.
The communication model also collects vital machine parameters such as oil temperature, filling level
of fuel tank and conveys it to the manned tractor where it may be displayed and monitored.

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1.2.2 Tractor Module

The tractor module controls the speed of the unmanned vehicle based on predefined or dynamic target
values for the clearance between manned and unmanned tractor.
The module transfers the actuation of the three point hitch and the power take off on the manned
tractor to the communication module so that the unmanned tractor can act accordingly when reaching
correspondent position.
The module also reports vital machine data on the unmanned tractor to the communication module.

1.2.3 Path Planning and Steering Module

When a team of tractors is operating in the field, the situation with respect to reference lines is
different from automated steering systems.
Both the manned and the unmanned tractor need to be able to avoid obstacles like posts and trees. The
turning path of the unmanned tractor cannot be derived from simple parallel shifting of the path of the
manned tractor. The electronic tow bar therefore requires a path planning module that covers all
situations which may occur during the operation of the teamed tractors in the field.
The electronic tow bar uses five different strategies for path planning on the unmanned tractor
depending on the system mode. The path is planned ahead up to the current position of the leading
manned tractor. The steering module processes the resulting waypoints and sends according
commands to the steering valve.

1.2.4 Security Module

The security module monitors the communication line between manned and unmanned tractor. Also,
the quality of GPS positioning on both vehicles is permanently monitored. The security module
determines the distance between manned and unmanned tractor and their travelling directions and
issues warning messages in case of a potential collision.
The security module secures that the maximum distance between the two machines is not exceeded so
that a stable communication is maintained continuously. The security module is also to monitor
threshold values for acceleration and angular speed.
The security module accepts emergency shutdown requests from the operator and is in charge of
bringing both tractors to halt immediately when critical values excess their correspondent thresholds.

2 PATH PLANNING ALGORITHMS FOR AN ELECTRONIC TOW

BAR

The continuous operation of the electronic tow bar after coupling of the vehicles requires that the path
of the unmanned tractor needs to be regularly updated. Path planning is based on the motion
compensated position measurements on the manned tractor.
The communication module continuously reports position, speed and heading of the manned tractor to
the path planning module and the unmanned tractor. Depending on the system mode (standard,
obstacle avoidance, turning) the waypoints travelled by the manned tractor are processed into a
reference line for the unmanned tractor.

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2.1 Standard Mode

The standard mode is pursued when the unmanned tractor is to

follow the manned tractor on a path shifted by the swath width
or working width of the implement between the headlands. The
offset can be positive (right) or negative (left).
Figure 1 shows the track of the manned tractor (blue) and the
track planned for the unmanned tractor (red). The green arrows
depict the heading or travelling direction of the manned tractor.
The black dashed arrows mark the offset between the
waypoints travelled by the manned tractor and the waypoints
processed for the unmanned tractor. Their length is equal to the
swath width or the working width of the implement.
The direction of offset is determined by the travelling direction
of the manned tractor. The direction is calculated by adding
half the difference between the headings and 90 degrees to the
heading travelled to reach the waypoint on the track of the
manned tractor accounted for.
The algorithm also derives the steering angles necessary to
travel the path. If the steering angle on the path planned for the
unmanned tractor falls below a threshold the waypoints are
omitted.

Figure 1: Standard Mode

2.2 Obstacle Avoidance Modes

The electronic tow bar enters one of the two obstacle avoidance
modes when the operator anticipates a collision between the
manned or the unmanned tractor and an obstacle.
The operator on the manned tractor can trigger the Follow Me
Mode whenever an obstacle interferes with the path of the
unmanned vehicle. The Ignore Me Mode is designed to omit
the track of the manned tractor for path planning while the
operator has to leave the desired path in order to circumvent an
obstacle.

2.2.1 Follow Me Mode

The Follow Me Mode is induced by the operator when he
identifies an obstacle on the predefined path of the unmanned
tractor.
Activating the Follow Me Mode triggers the path planning for
the unmanned vehicle to be revisited so that it is following the
manned tractor with no offset starting at the waypoint where in
the Follow Me Mode was induced (Figure 2, black line).

Figure 2: Follow Me Mode

The path planning module deletes a section of the predefined

path for the unmanned tractor (Figure 2, grey line). The length
of the section depends on the swath width. Applying spline interpolation the last waypoint after
deletion is connected with the current position of the manned tractor (Figure 2, red curve).

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2.2.2 Ignore Me Mode

It is not desired that the unmanned tractor follows the path
of the manned tractor under all circumstances. The driver
can enter the Ignore Me Mode whenever he is performing
manoeuvres which are not to be reflected in the path of the
unmanned tractor.
Figure 3 shows that parts of the track of the manned tractor
(Blue line) are omitted (grey curve). The driver enteres the
Ignore Me Mode when starting to circumvent a group of
trees (lower dashed line). He returns into Standard Mode
when he has completed the manoeuvre (upper dashed line).
Path planning for the unmanned vehicle is interrupted when
the driver enters the Ignore Me Mode. It is only resumed
after the driver enters the Standard Mode (s. Figure 3) or the
Follow Me Mode.
The waypoints of the path of the unmanned tractor between
the beginning and the end of the Ignore Me Mode are
determined by means of spline interpolation.
Figure 3: Ignore Me Mode

2.3 Headland Turn Modes

Path planning on headlands needs to account for the offset

between the teamed tractors and the turning regime of the
manned tractor.
If feasible, the unmanned tractor performs a simple turn. If
the turning regime or the offset between the tractors does not
allow for a simple turn due to turning radiuses undercutting
its capabilities, the unmanned tractor will perform a keyhole
turn.
For path planning during headland turns the path travelled by
the manned tractor during the headland turn is omitted
(Figure 4, 5: grey line). The operator enters and exits the
turning mode by pressing a button.

2.3.1 Simple Turn

Simple turn path planning aims at changing the driving
direction of the unmanned tractor so that it matches the
Figure 4: Simple headland turn
driving direction of the manned tractor at the beginning and
the end of the headland turn. The sign of the offset between
the tractors (left/right) may be changed during turns (s. Figure 4). During a simple headland turn the
unmanned tractor only turns into one direction.
The path planned between the start and the end point of the headland turn consist of single spline or
two splines and a straight segment (Figure 4)

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2.3.2 Keyhole Turn

If the turning clearance circle of the unmanned tractor is undercut
by the turning radius of a simple turn, the path planning module
processes waypoints for a keyhole turn.
The path travelled by the manned tractor during the headland turn
is omitted for path planning (Figure 5, grey line). The path
planning is paused as long as the manned tractor is turning. The
process is only resumed when the operator enters the Standard
Mode.
The keyhole turn aims at planning a path that exits and enters the
tramline with the same driving direction as the manned tractor.
The space needed for keyhole headland turns is limited by the
turning clearance circle of the unmanned tractor.
In contrast to simple turns, the turning direction during a keyhole
turn is changing. The algorithm for planning a keyhole turn
creates a semi-circle element which is shifted off the position
where Turning Mode was induced. The offset needs to exceed the
turning clearance circle of the unmanned tractor.
The keyhole turn planning module finally generates two splines
that connect the semi-circle with the path segments generated in
standard Mode before and after the headland turn.
Figure 5: Keyhole headland

3 CONCLUSIONS

In this paper, the concept of the Electronic Tow Bar is introduced and explained. The components and
modules of the system and their interaction are summarized. The paper describes the path planning
algorithms required for an unmanned tractor to follow the path of a manned tractor, including obstacle
avoidance and different headland turn strategies.
All algorithms have proven their reliability in simulated environments. Two field tests have shown that
normal mode and simple headland turns are satisfactorily performed with real tractors. Further field
tests for evaluating the complete system including security monitoring and implement actuation are to
be carried out in late 2009 and 2010.

ACKNOWLEDGEMENTS

The authors would like to thank the Federal Agency for Agriculture and Food (BLE) in Bonn for
generously funding of the EDA project.
Contact:
Dr. agr. Patrick O. Noack
Bernd Kammerbauer
Dipl. Ing. Martin Schnfelder
geo-konzept GmbH
Gut Wittenfeld, D-85111 Adelschlag, Germany

Email: pnoack@geo-konzept.de

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