Problem
Research questions and friction points this paper is trying to address.
headland coverage
path planning
autonomous driving
arable farming
field corners
Corner Cases: Headland Coverage Path Planning for Autonomous Driving in Arable Farming
🤖 AI Summary
本文提出一种新的农田田头路径规划方法，通过修改多边形角以允许倒车转弯，改善了90度及240度以上角落的覆盖效果。
📝 Abstract
This paper presents a new method for headland coverage path planning for arable fields. Several earlier approaches suggest covering the headland with nested polygons and smooth turns, however, covering the field corners entirely requires manoeuvres with reversing. In the new method, the polygon corners are modified to allow a reversing turn. A comparison to two other methods considering gap, overlap, and crossing the field boundary shows an improvement in the coverage result especially in field corners of around 90 degrees, and 240 degrees and above. Applicability of the new method is shown with several examples of real polygonal field maps.
Innovation
Methods, ideas, or system contributions that make the work stand out.
headland coverage path planning
reversing turn
polygon corners modification
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