Real-Time Parametric Path Planning Algorithm for Agricultural Machinery Kinematics Model Based on Particle Swarm Optimization
Round 1
Reviewer 1 Report
Please read the attachment. Thank you.
Comments for author File: 
Comments.pdf
Author Response
Dear Reviewer:
We feel great thanks for your professional review work on our article. As you are concerned, there are several problems that need to be addressed. According to your nice suggestions, we have made extensive corrections to our previous draft, which are highlighted with red. The detailed corrections are listed in the file attached.
Sincerely,
Author
Author Response File: 
Author Response.docx
Reviewer 2 Report
Comments for author File: Comments.pdf
The article proposes a real-time path-planning algorithm for agricultural machinery based on particle swarm optimization. It addresses the need for obstacle avoidance in unmanned agricultural machinery operations. The article's strengths include considering the kinematic model of agricultural machinery, defining paths using parametric equations, and optimizing paths to satisfy obstacle avoidance conditions. However, there are areas for improvement:
1- References should be added regarding the path planning of tractors and agricultural machines.
2- The Material and Methods section in particular has some complicated portions. Clarity and structure would be enhanced. To aid readers in understanding important topics, consider including additional visual aids like flowcharts or diagrams.
3- The article discusses the influence of algorithm parameters on running time. It should delve deeper into parameter selection and tuning strategies, offering guidance to specialists. Authors should elaborate on how the algorithm's parameters, like swarm size (number of particles), iterations, and convergence criteria, were determined. Providing insights into parameter tuning could aid readers in applying the algorithm effectively.
4- It's important to clarify how the two objective functions are used and how they contribute to finding optimal paths. Explain the rationale behind using these specific objective functions. Authors should provide a clear justification for using both objective functions and explain when each should be preferred. Additionally, comparisons with other path-planning approaches could demonstrate the effectiveness of these functions.
5- Discuss how the algorithm balances between finding the shortest path and avoiding obstacles effectively.
6- Considering multiple obstacle layouts (diagonal, vertical, horizontal, scatter) would enhance the generalization of the approach, making it more applicable to diverse agricultural scenarios.
7- To show the efficacy of the suggested PSO-based algorithm, consider providing a comparison with other path-planning algorithms, notably those employed in agricultural or related areas.
8- Address any limitations of the proposed algorithm, such as computational complexity or scenarios where it may not be suitable.
9- Highlight the uniqueness of the proposed approach.
10- Some comments have been placed on the article file. Please pay attention to them.
11- Carefully proofread the article for language and grammar errors to enhance overall readability.
Author Response
Dear Reviewer:
We feel great thanks for your professional review work on our article. As you are concerned, there are several problems that need to be addressed. According to your nice suggestions, we have made extensive corrections to our previous draft, which are highlighted with red. The detailed corrections are listed in the file attached.
Sincerely,
Author
Author Response File: Author Response.docx
Reviewer 3 Report
132 The machine-tractor unit center for a tractor with front steered wheels, a crawler tractor and a tractor with semi-frames is located at different points.
145 speed designation does not match line 139
153, 159 check the numbering of equations
Equations 20 and 21 – check that symbols and statements are displayed correctly
322 clarify what radius is meant
Rice. 5 . the scale for b, c, d is not well chosen - it is difficult to understand the nature of the parameter change
In the case of an agricultural implement, it has a certain working width. According to Figure 3b, there will be a two-time passage of the agricultural unit along the same path, as well as the presence of an untreated field surface, which is not acceptable. Therefore, as a parameter for optimizing the algorithm, it would be logical to try to reduce the area of these phenomena.
Author Response
Dear Reviewer:
We feel great thanks for your professional review work on our article. As you are concerned, there are several problems that need to be addressed. According to your nice suggestions, we have made extensive corrections to our previous draft, which are highlighted with red. The detailed corrections are listed in the file attached.
Sincerely,
Author
Author Response File: Author Response.docx
