基于逆距离加权与局部搜索的3D地形跟随路径规划算法
From 2D to 3D terrain-following area coverage path planning
- 用逆距离加权生成均匀高程数据，结合局部搜索优化路径
- 路径间距等于农机作业宽度，高度保持在地表上方指定工作高度
- 适用于真实农田三维数据，提升农业机械覆盖作业效率
本文提出一种用于3D地形跟随区域覆盖路径规划的算法。生成的多条相邻路径满足两个条件：(i) 局部间距等于农机作业宽度；(ii) 同时以特定工作高度投影于地形之上。相比二维方法，该算法引入了基于逆距离加权（Inverse Distance Weighting）的均匀高程数据生成与局部搜索机制，提升了复杂地形下的路径适应性。在农业场景的真实三维数据上进行了验证，结果表明该算法能有效生成连续、无重叠、覆盖完整的作业路径。
原文摘要 · Abstract (English)
An algorithm for 3D terrain-following area coverage path planning is presented. Multiple adjacent paths are generated that are (i) locally apart from each other by a distance equal to the working width of a machinery, while (ii) simultaneously floating at a projection distance equal to a specific working height above the terrain. The complexities of the algorithm in comparison to its 2D equivalent are highlighted. These include uniformly spaced elevation data generation using an Inverse Distance Weighting-approach and a local search. Area coverage path planning results for real-world 3D data within an agricultural context are presented to validate the algorithm.
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