Combined coverage and path planning for field operations

D. D. Bochtis, T. Oksanen

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

9 Scopus citations

Abstract

Searching an optimal path to cover the whole field while fulfil certain agricultural field operation has been found to be extremely difficult problem to solve mathematically or algorithmically. Although the area coverage problem has been studied extensively in the robotics literature, most of the developed approaches cannot be used for the case of agricultural field operations due to the special characteristics inherent in these operations. In this paper, a first attempt to connect two complementary approaches on the field coverage planning for agricultural machines that have been independently developed is presented. The first approach, using prediction and exhaustive search methods, results in the optimum decomposition of a complex-geometry field into sub-fields and the optimum driving direction in each field. The second one, using a heuristic combinatorial optimization algorithm, results in the optimal sequence that the machine visits the sub-fields and the optimal traversal sequences of parallel field tracks for each sub-field. As an implementation of the total method, an example of optimal planning for a given field is given. Based on this preliminary work, it seems that the resulted combined approach provides a complete method for field area coverage planning that is directly applicable to autonomous agricultural machines as well as to a next generation of navigation-aid and auto-steering systems.

Original languageEnglish
Title of host publicationPrecision Agriculture 2009 - Papers Presented at the 7th European Conference on Precision Agriculture, ECPA 2009
Pages521-527
Number of pages7
StatePublished - 2009
Externally publishedYes
Event7th European Conference on Precision Agriculture, ECPA 2009 - Wageningen, Netherlands
Duration: 6 Jul 20098 Jul 2009

Publication series

NamePrecision Agriculture 2009 - Papers Presented at the 7th European Conference on Precision Agriculture, ECPA 2009

Conference

Conference7th European Conference on Precision Agriculture, ECPA 2009
Country/TerritoryNetherlands
CityWageningen
Period6/07/098/07/09

Keywords

  • Agricultural machines
  • Autonomous machines
  • Field traffic
  • Navigation-aid systems

Fingerprint

Dive into the research topics of 'Combined coverage and path planning for field operations'. Together they form a unique fingerprint.

Cite this