中文摘要：

为了实现自动导航拖拉机田间作业的全区域覆盖路径规划,提出基于全排列算法获得转弯耗时最短的路径规划方案。为此,将农田地块划分为直线作业区域和地头转弯区域,在地头转弯区域内建立了拖拉机沿弓形和鱼尾形转弯路径行驶的轨迹解析模型,计算得到地头转弯区域所需的最小宽度及转弯所消耗的时间。在直线作业区域内,根据转弯次数最少来确定直线作业路径在田间的相对方向,生成相应的直线路径簇。根据对两块典型农田地块田间作业路径规划试验,得到了直线作业路径遍历顺序的一般规律。试验表明：这两块农田的路径规划方案中转弯路径的耗时较梭形行走、离心行走及向心行走方式至少减少了51%。

英文摘要：

In order to plan the field-work full area coverage path for tractor with automatic navigation, a method was put forward that full permutation algorithm is used to obtain the path planning scheme consuming the least time. The cropland is divided into the working area and the headland area. The corresponding moving trajectories of the tractor＇ s locating da- tum point are analyzed when it runs along the bow-shaped and fish tail-shaped turning paths. And both the minimum width of the headland area and the consumption of time required to complete turning are calculated. The relative direction of the working path in a given filed is optimized to make the turning times least, and then a cluster of working path lines parallel to the relative direction could be generated. According to the path planning test result of 2 typical farmlands, the general rule of working paths＇ traversal order has been acquired. And the test data showed that compared with spindle- shaped, centrifugal and centripetal driving mode, turning paths of the path planning scheme in the 2 croplands reduced time by 51% at least.