Skip to main content
SLU publication database (SLUpub)
Research article - Peer-reviewed, 2022

Bale Collection Path Planning Using an Autonomous Vehicle with Neighborhood Collection Capabilities

Latif, Saira; Lindback, Torbjorn; Karlberg, Magnus; Wallsten, Johanna


This research was mainly focused on the evaluation of path planning approaches as a prerequisite for the automation of bale collection operations. A comparison between a traditional bale collection path planning approach using traditional vehicles such as tractors, and loaders with an optimized path planning approach using a new autonomous articulated concept vehicle with neighborhood reach capabilities (AVN) was carried out. Furthermore, the effects of carrying capacity on reduction in the working distance of the bale collection operation was also studied. It was concluded that the optimized path planning approach using AVN with increased carrying capacity significantly reduced the working distance for the bale collection operation and can thus improve agricultural sustainability, particularly within forage handling.


agriculture; path planning; neighborhood collection; autonomous vehicle; genetic algorithm; global optimization; bale collection problem; forage handling

Published in

2022, Volume: 12, number: 12, article number: 1977
Publisher: MDPI

      SLU Authors

    • Wallsten, Johanna

      • Department of Agricultural Research for Northern Sweden, Swedish University of Agricultural Sciences

    UKÄ Subject classification

    Transport Systems and Logistics
    Agricultural Science

    Publication Identifiers


    Permanent link to this page (URI)