Optimal Coverage Path Planning for Agricultural Vehicles with Curvature Constraints

Maria Höffmann (), Shruti Patel and Christof Büskens
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Maria Höffmann: Optimization and Optimal Control, Center for Industrial Mathematics, University of Bremen, 28359 Bremen, Germany
Shruti Patel: Optimization and Optimal Control, Center for Industrial Mathematics, University of Bremen, 28359 Bremen, Germany
Christof Büskens: Optimization and Optimal Control, Center for Industrial Mathematics, University of Bremen, 28359 Bremen, Germany

Agriculture, 2023, vol. 13, issue 11, 1-26

Abstract: Complete coverage path planning (CCPP) is vital in mobile robot applications. Optimizing CCPP is particularly significant in precision agriculture, where it enhances resource utilization, reduces soil compaction, and boosts crop yields. This work offers a comprehensive approach to CCPP for agricultural vehicles with curvature constraints. Our methodology comprises four key stages. First, it decomposes complex agricultural areas into simpler cells, each equipped with guidance tracks, forming a fixed track system. The subsequent route planning and smooth path planning stages compute a path that adheres to path constraints, optimally traverses the cells, and aligns with the track system. We use the generalized traveling salesman problem (GTSP) to determine the optimal traversing sequence. Additionally, we introduce an algorithm for calculating paths that are both smooth and curvature-constrained within individual cells, as well as paths that enable seamless transitions between cells, resulting in a smooth, curvature-constraint coverage path. Our modular approach allows method flexibility at each step. We evaluate our method on real agricultural fields, demonstrating its effectiveness in minimizing path length, ensuring efficient coverage, and adhering to curvature constraints. This work establishes a strong foundation for precise and efficient agricultural coverage path planning, with potential for further real-world applications and enhancements.

Keywords: complete coverage path planning; optimization; guidance tracks; route planning; path smoothing; agriculture; field robotics (search for similar items in EconPapers)
JEL-codes: Q1 Q10 Q11 Q12 Q13 Q14 Q15 Q16 Q17 Q18 (search for similar items in EconPapers)
Date: 2023
References: View references in EconPapers View complete reference list from CitEc
Citations: View citations in EconPapers (1)

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