A turning scheme in the headland of agricultural fields for autonomous robot

In agriculture field, headland turning is one of the important aspects in controlling the unmanned vehicle to move from one row to another autonomously. Therefore, this paper presents the headland turning based on the pre-defined path using Bezier curve with optimum path and minimal navigation and orientation control schemes. Real-time experiments have been carried out in the laboratory environment with an experimental unmanned mobile robot. The deviation between the planned path and the real-time trajectory is recorded to analyze the efficiency of the proposed work. It is found that the average error is larger compared to other approach due to direct connection of the Bezier curve. Nevertheless, it is suitable to be implemented on a small-scaled unmanned vehicle in a narrow headland with a simple and optimum turning scheme.