Incorporating Kinematic Constraints and Tree Inaccessibility into an Agent-Based Model of a Feller-Buncher Operating under Partial Harvesting Regimes

A simulation agent-based model of a feller-buncher for selective and gradual felling is developed, accounting for kinematic constraints of platform rotation and tree inaccessibility due to retained obstacles. The model is implemented in the AnyLogic environment. At the initialization stage, the user specifies cutting area boundaries by entering coordinates of turning points, which allows modeling sites of any geometric shape, as well as the machine trajectory, including main and strip skidding trails. A multi-agent structure is created, including harvested trees, retained trees, undergrowth, and an inaccessible trees category. The user specifies species composition, stem diameter, and the number of trees of each type. Tree distribution over the cutting area is random. Technical characteristics of the machine, including felling head reach, travel and rotation speeds, are also entered before simulation. An algorithm for trail clearance and a mechanism for assessing target tree accessibility from a working position are developed, providing for the transfer of inaccessible trees to a separate category with the possibility of their reassessment after a position change. Kinematic constraints of platform rotation are considered when pointing the felling head at a standing tree and when placing a felled tree into a bunch on the trail, including correction of the working position by reverse movement with vertical lifting of the tree when obstacles are detected. The model provides 2D and 3D visualization of the technological process. The practical significance lies in the ability to assess the real accessibility of timber stock at the logging design stage, considering kinematic constraints and the location of retained trees, which allows adjusting production standards before equipment enters the cutting area. The model provides a basis for subsequent assessment of time consumption and productivity.

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