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2025 Vol.7, Issue 4 Preview Page

Research Article

Development of a curved path generation and tracking algorithm for an auto-guided tractor
Kyeong-Min Kang14
,
Yong-Hyun Kim12
,
Changho Yun12
,
Hak-Jin Kim123*
1Department of Biosystems Engineering, College of Agriculture and Life Sciences, Seoul National University, Seoul 08826, Korea
2Integrated Major in Global Smart Farm, College of Agriculture and Life Sciences, Seoul National University, Seoul 08826, Korea
3Research Institute of Agriculture and Life Sciences, Seoul National University, Seoul 08826, Korea
4LS Mtron, Gyeonggi-do 14118, Korea
*Corresponding Author
31 December 2025. pp. 355-368
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Abstract

In domestic farmland environments, fields often have irregular shapes and slopes, making it difficult to apply conventional path generation and tracking algorithms for auto-guided tractors. Most existing algorithms have been developed assuming flat and straight working paths, which limits their applicability to irregularly curved or sloped farmlands. To address these limitations, this study developed a curved path generation and tracking algorithm to enhance the applicability of auto-guided tractors in complex field conditions. To generate curved paths, a reference path was first created based on the manual driving data. Additional working and headland turning paths were then generated by considering the implement’s working width and the field dimensions. To enable path tracking on curved and sloped terrain, path curvature was defined and integrated into an implement-centered path tracking algorithm. The proposed path generation and tracking algorithms were tested through both simulation and field experiments. When curvature was applied, the field experiment results showed that the implement’s tracking error in curved working path decreased by 33.7%, and the total error for the entire path—including headland turns—was reduced by 38.9% compared to the case without curvature application. These results demonstrate significant improvements in both tracking accuracy and operational efficiency. Overall, the findings indicate that the developed algorithm enhances the tracking performance of auto-guided tractors and extends their applicability to irregular farmland, including convex, concave, and sloped fields.

Keywords
Auto-guided tractor
Curved path generation
Curvature-applied path tracking
Irregular farmland
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Information
  • Publisher :Korean Society of Precision Agriculture
  • Publisher(Ko) :한국정밀농업학회
  • Journal Title :Precision Agriculture Science and Technology
  • Journal Title(Ko) :정밀농업과학기술
  • Volume : 7
  • No :4
  • Pages :355-368
  • Received Date : 2025-10-17
  • Revised Date : 2025-11-12
  • Accepted Date : 2025-11-25
  • DOI :https://doi.org/10.22765/pastj.20250024
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