Partial Field Coverage Based on Two Path Planning Patterns
نویسنده
چکیده
This paper presents a path planning method for partial field coverage. We therefore propose to use a specific path planning pattern. Guiding notion is that lighter machinery with smaller storage tanks can alleviate soil compaction, but does not permit to cover a given field in a single run, for example, during a spraying application. Instead, multiple returns to a mobile or stationary depot located outside of the field are required for storage tank refilling. We therefore suggest a suitable path planning method that accounts for the limited turning radii of agricultural vehicles, satisfies repressed area minimisation constraints, and aims at overall path length minimisation. The benefits of the proposed method are illustrated by means of a comparison to a method that is based on a S-shaped planning motif. It is illustrated how the proposed path planning pattern can also be employed efficiently for single-run field coverage.
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ورودعنوان ژورنال:
- CoRR
دوره abs/1707.07649 شماره
صفحات -
تاریخ انتشار 2017