Quick turn headland-turning control strategy for autonomous rice transplanters

Authors
Yun, ChanghoKim, Hak-JinJeon, Chan-WooGang, Min-Seok
Issue Date
2025-12
Publisher
Elsevier BV
Citation
Computers and Electronics in Agriculture, v.239
Abstract
Efficient headland turning is crucial for maximizing the productivity and accuracy of autonomous rice transplanters, especially in small-scale fields where frequent maneuvering is necessary. This study developed and experimentally validated a practical headland-turning strategy that enables rapid, continuous turns without requiring reverse maneuvers or vehicle stops. Two complementary techniques were employed: a dynamic waypoint adjustment using real-time circular regression and an experimentally validated lateral boundary offset (LBO) model. These were designed to reduce trajectory deviations during transitions between turning and straight-line motion. Field tests with a commercial autonomous rice transplanter demonstrated successful turns at various speeds, emphasizing the need to account for field-specific conditions such as surface irregularities caused by prior tillage. The results confirm the effectiveness of the proposed strategy in improving precision and efficiency, providing a strong basis for future advancements in autonomous transplanting systems.
Keywords
GLOBAL POSITIONING SYSTEM; DESIGN; Autonomous rice transplanter; Headland-turning; GNSS; Paddy field; Path planning; Path tracking; Waypoint switching
ISSN
0168-1699
URI
https://pubs.kist.re.kr/handle/201004/153220
DOI
10.1016/j.compag.2025.110864
Appears in Collections:
KIST Article > Others
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