The development of unmanned agricultural tractors (UAT) represents a significant step towards intelligent agricultural equipment. UAT technology is expected to lighten the workload of laborers and enhance the accuracy and efficiency of mechanized operations. Through the investigation of 123 relevant studies in the literature published in recent years, this article reviews three aspects of autonomous navigation technologies for UATs: perception, path planning and tracking, and motion control. The advantages and deficiencies of these technologies in the context of UATs are clarified by analyzing technical principles and the status of current research. We conduct summaries and analyses of existing unmanned navigation solutions for different application scenarios in order to identify current bottleneck issues. Based on the analysis of the applicability of autonomous navigation technologies in UATs, it can be seen that fruitful research progress has been achieved. The review also summarizes the common problems seen in current UAT technologies. The application of research to the sharing and integrating of multi-source data for autonomous navigation has so far been relatively weak. There is an urgent need for high-precision and high-stability sensing equipment. The universality of path planning methods and the efficiency and precision of path tracking need to be improved, and it is also necessary to develop highly reliable electrical control modules to enhance motion control performance. Overall, advanced sensors, high-performance intelligent algorithms, and reliable electrical control hardware are key factors in promoting the development of UAT technology.

In agricultural field inspection robots, constructing accurate environmental maps and achieving precise localization are essential for effective Light Detection And Ranging (LiDAR) Simultaneous Localization And Mapping (SLAM) navigation. However, navigating in occluded environments, such as mapping distortion and substantial cumulative errors, presents challenges. Although current filter-based algorithms and graph optimization-based algorithms are exceptionally outstanding, they exhibit a high degree of complexity. This paper aims to investigate precise mapping and localization methods for robots, facilitating accurate LiDAR SLAM navigation in agricultural environments characterized by occlusions. Initially, a LiDAR SLAM point cloud mapping scheme is proposed based on the LiDAR Odometry And Mapping (LOAM) framework, tailored to the operational requirements of the robot. Then, the GNU Image Manipulation Program (GIMP) is employed for map optimization. This approach simplifies the map optimization process for autonomous navigation systems and aids in converting the Costmap. Finally, the Adaptive Monte Carlo Localization (AMCL) method is implemented for the robot’s positioning, using sensor data from the robot. Experimental results highlight that during outdoor navigation tests, when the robot operates at a speed of 1.6 m/s, the average error between the mapped values and actual measurements is 0.205 m. The results demonstrate that our method effectively prevents navigation mapping distortion and facilitates reliable robot positioning in experimental settings.

Unmanned agricultural tractor (UAT) represents the advanced stage of autonomous navigation and serves as a core technology in agricultural production. It reduces the operator’s workload, and improves operational accuracy and efficiency. This article reviews three aspects of key autonomous navigation technologies for UATs: perception, path planning and tracking, and motion control. The advantages, and shortages of these key technologies on UATs are clarified by analyzing technical principles and the current research status. We conducted summaries and analyses of existing unmanned navigation solutions for different application scenarios in order to identify current bottleneck issues. Based on the analysis of the applicability of key autonomous navigation technologies on UATs, it can be seen that fruitful research progresses have been achieved. The review also summarizes the common problems in current technologies. The application research on sharing and integrating multi-source data for autonomous navigation are relatively weak. There is an urgent need of high-precision, and high-stability sensing equipment. The universality of path planning methods, and the efficiency and precision of path tracking need to be improved. It is necessary to develop high reliability electrical control modules to enhance motion control performance. Overall, advanced sensors, high-performance intelligent algorithms, and reliable electrical control hardware are key factors in promoting the development of UAT technology.

A photovoltaic (PV)-powered electric motor is used for hose-drawn traveler driving instead of a water turbine to achieve high transmission efficiency. PV power generation (PVPG) is affected by different meteorological conditions, resulting in different power generation of PV panels for a hose-drawn traveler. In the above situation, the hose-drawn traveler may experience deficit power generation. The reasonable determination of the PV panel capacity is crucial. Predicting the PVPG is a prerequisite for the reasonable determination of the PV panel capacity. Therefore, it is essential to develop a method for accurately predicting PVPG. Extreme gradient boosting (XGBoost) is currently an outstanding machine learning model for prediction performance, but its hyperparameters are difficult to set. Thus, the XGBoost model based on particle swarm optimization (PSO-XGBoost) is applied for PV power prediction in this study. The PSO algorithm is introduced to optimize hyperparameters in XGBoost model. The meteorological data are segmented into four seasons to develop tailored prediction models, ensuring accurate prediction of PVPG in four seasons for hose-drawn travelers. The input variables of the models include solar irradiance, time, and ambient temperature. The prediction accuracy and stability of the model is then assessed statistically. The predictive accuracy and stability of PV power prediction by the PSO-XGBoost model are higher compared to the XGBoost model. Finally, application of the PSO-XGBoost model is implemented based on meteorological data.

Hose-drawn traveler (HDT) is a significant type of sprinkler irrigation equipment in China. In arid and remote areas, where grid power is unreliable or unavailable, the water pumping system of the HDT typically depends on a complementary power supply (CPS) system integrating batteries, photovoltaic (PV) panels, and gasoline generators. However, the configuration of the CPS system is often determined empirically, which can lead to increased costs and compromised operational reliability. This paper aims to optimize the configuration of the CPS system based on the power demand of the water pumping system in HDT. We propose an optimization model for component sizing that considers both the annual costs and reliability of the power supply system. An improved particle swarm optimization (PSO) algorithm, incorporating a penalty function, is employed to determine the optimal configuration of the CPS system. The proposed optimization approach is then applied to an HDT operating in three typical regions in China: Golmud, Beijing, and Harbin. Finally, a comparative analysis of the configurations and annual cost of two CPS systems, PV-battery (PVB) and PV-battery-gasoline (PVBG), is conducted. Results show that for a given region, season, and power of water pump, the PVBG system needs a smaller PV panel area and lower battery capacity than the PVB system. For a fixed region and season, increasing power of water pump leads to a more significant rise in the annual cost of the PVB system than in that of the PVBG system. At high pump power levels, the PVBG system is more cost-effective, resulting in a lower annual cost than the PVB system. In Golmud, under identical seasonal and pump power conditions, both systems have lower annual cost than in Beijing and Harbin, suggesting that Golmud is a more suitable region for deploying CPS systems. The proposed method provides a reference for designing power supply systems of HDT irrigation.

Solar energy can mitigate the power supply shortage in remote regions for portable irrigation systems. The accurate prediction of solar irradiance is crucial for determining the power capacity of photovoltaic power generation (PVPG) systems for mobile sprinkler machines. In this study, a prediction method is proposed to estimate the solar irradiance of typical irrigation areas. The relation between meteorological parameters and solar irradiance is studied, and four different parameter combinations are formed and considered as inputs to the prediction model. Based on meteorological data provided by ten typical radiation stations uniformly distributed nationwide, an Extreme Gradient Boosting (XGBoost) model optimized using the Whale Optimization Algorithm (WOA) is developed to predict solar radiation. The prediction accuracy and stability of the proposed method are then evaluated for different input parameters through training and testing. The differences between the prediction performances of models trained based on single-station data and mixed data from multiple stations are also compared. The obtained results show that the proposed model achieves the highest prediction accuracy when the maximum temperature, minimum temperature, sunshine hours ratio, relative humidity, wind speed, and extraterrestrial radiation are used as input parameters. In the model testing, the RMSE and MAE of WOA-XGBoost are 2.142 MJ·m⁻²·d⁻¹ and 1.531 MJ·m⁻²·d⁻¹, respectively, while those of XGBoost are 2.298 MJ·m⁻²·d⁻¹ and 1.598 MJ·m⁻²·d⁻¹. The prediction effectiveness is also verified based on measured data. The WOA-XGBoost model has higher prediction accuracy than the XGBoost model. The model developed in this study can be applied to forecast solar irradiance in different regions. By inputting the meteorological parameter data specific to a given area, this model can effectively produce accurate solar irradiance predictions for that region. This study provides a foundation for the optimization of the configuration of PVPG systems for mobile sprinkler machines.