Abstract
The problem of planning reference trajectories for agricultural machines is considered. A path planning algorithm to perform various kinds of farm-works is described. The case of convex fields is first considered. A direction of work being given, the algorithm determines the turning areas and selects a trajectory which guarantees the complete field coverage while minimizing overlapping. The method is extended to the case of fields with more complex shape including possibly obstacles. Simulations are proposed to illustrate the reasoning.
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© 2006 Springer-Verlag Berlin Heidelberg
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Taïx, M., Souères, P., Frayssinet, H., Cordesses, L. (2006). Path Planning for Complete Coverage with Agricultural Machines. In: Yuta, S., Asama, H., Prassler, E., Tsubouchi, T., Thrun, S. (eds) Field and Service Robotics. Springer Tracts in Advanced Robotics, vol 24. Springer, Berlin, Heidelberg. https://doi.org/10.1007/10991459_53
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DOI: https://doi.org/10.1007/10991459_53
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Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-32801-8
Online ISBN: 978-3-540-32854-4
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