2019/10/26 by Mogens Graf Plessen, Plessen, Mogens Graf · 1 citation
Engineering · #FOS: Electrical engineering #Forest Biomass Utilization and Management #Soil Mechanics and Vehicle Dynamics #Systems and Control (eess.SY) #Vehicle Dynamics and Control Systems #electronic engineering #information engineering
paper · pdf · doi:10.48550/arxiv.1910.12034
openalex publication_date 2019/10/26 · openalex created_date 2019/11/01 · openalex updated_date 2026/07/28
Within the context of in-field path planning this paper discusses freeform path fitting for the minimisation of the number of transitions between headland path and interior lanes within agricultural fields. This topic is motivated by two observations. Due to crossings of tyre traces such transitions in practice often cause an increase of compacted area. Furthermore, for very tight angles between headland path and interior lanes undesired hairpin turns may become necessary due to the limited agility of in-field operating tractors. By minimising the number of interior lanes both detrimental effects can be mitigated. The potential of minimising the number of interior lanes by freeform path fitting is evaluated on 10 non-convex real-world fields including obstacle areas, and compared to the more common technique of fitting straight interior lanes.