改进农田角落路径规划，解决自动驾驶农机转弯难题
Corner Cases: Headland Coverage Path Planning for Autonomous Driving in Arable Farming
- 修改多边形拐角实现倒车转向，避免覆盖盲区
- 90度及240度以上拐角覆盖效果显著提升
- 适用于真实农田地图，适合农业自动化场景
本文提出一种新的农田头地（headland）覆盖路径规划方法。先前方法采用嵌套多边形与平滑转向，但完全覆盖田地拐角需倒车操作。新方法通过调整多边形拐角，支持倒车转向。对比两种现有方法在间隙、重叠和越界方面的表现，新方法在90度及240度以上的田角覆盖效果显著提升。通过多个真实多边形农田地图验证了该方法的适用性。
原文摘要 · Abstract (English)
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.
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