Motion Planning Based on Artificial Potential Field for Unmanned Tractor in Farmland

Conference paper
Part of the Advances in Intelligent Systems and Computing book series (AISC, volume 784)


A motion planner based on artificial potential field for unmanned tractor is proposed in this paper. In order to get the effective environment model, the model for condition of terrain and impact of ground to tractor is analyzed and built. The tractor usually brings a trailer behind, so the kinematics of tractor with a trailer is presented. The motion planner based on artificial potential field is designed for the unmanned tractor working in farmland. According to the characteristics of the unmanned tractor, the control algorithm and motion planner is optimized. The simulation of the improved motion planner for unmanned tractor is presented and analyzed. And the simulation results are presented to show the effectiveness of the proposed method.


Unmanned tractor Motion planning Artificial potential field Tractor-trailer system 



This work is supported by National Natural Science Foundation of China (No. 31670719). The authors would like to thank all the members including trainees in ICT/CAS-ASTRI Advanced Wireless Technology Joint Research Center, Institute of Computing Technology, Chinese Academy of Sciences.


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© Springer International Publishing AG, part of Springer Nature 2019

Authors and Affiliations

  1. 1.Institute of Computing TechnologyChinese Academy of SciencesBeijingChina
  2. 2.Beijing Forestry UniversityBeijingChina

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