Two advanced algorithms of generating path guidance line are proposed: the Hough transform-based is to pre-limit the angular value of possible collinear points before peak detection.

• 提出两种自然环境中的路径导航线生成算法：对于矮小作物规则分布的农田场景，在标准Hough变换的基础上，预先检测共线点峰值的限定偏角阈值，以迅速检测关键信息；