Infield logistics planning for crop-harvesting operations

Crop-harvesting operations are typically carried out with combine harvesters. The harvested product is transferred to one or more tractors every time the combine harvester's storage capacity is reached. The efficiency of the process can be significantly improved by computing optimal routes and interactions for the harvest vehicles in the field. Furthermore, an automated method for generating itineraries for the harvest vehicles facilitates the planning for autonomous agricultural vehicles. The infield logistics problem is formulated as an integer linear programming vehicle routing problem with additional turn penalty constraints, but, because of the high number of decision variables, it is not possible to solve cases of realistic field size. The solution time of the infield logistics problem is considerably reduced by reformulating it as a modified minimum-cost network flow problem. This specific structure allows the exact solution of intermediate-size planning problems in a much shorter time period. The result of solving the infield logistics problem with the proposed modelling approaches is a set of itineraries ('tours'), covering the entire field. Each 'tour' is characterized by the combine harvester's start and end points and the positions where the combine harvester needs to be unloaded. The planning models minimize non-productivity (i.e. the time when a combine harvester travels in a field without harvesting). The results indicate that coordination between combine harvesters and tractors is also improved.