Complete coverage path planning for wheeled agricultural robots

In the agricultural industry, an evolutionary effort has been made over last two decades to achieve precise autonomous systems perform typical in-field tasks, including harvesting, mowing, and spraying. One of main objectives system in agriculture is improve efficiency while reducing environmental impact cost. Due nature these operations, complete coverage path planning (CCPP) approaches play essential role find optimal which covers entire field taking into account land topography, operation requirements, robot characteristics. The aim this paper propose a CCPP approach defining movements mobile robots field. First, method based on tree exploration proposed all potential solutions satisfying some predefined constraints. Second, similarity check selection eliminate similar best solutions. optimization goals are maximize area minimize overlaps, nonworking length, overall travel time. To explore wide range possible solutions, our able consider multiple entrances for robot. For fields with complex shape, different dividing lines split them simple polygons also considered. Our computes headland zones automatically leads high rate