Farmwork path planning for field coverage with minimum overlapping

Author

Fabre, S. ; Soures, P. ; Taïx, Michel ; Cordesses, Lionel

Author_Institution

Lab. d´´Autom. et d´´Anal. des Syst., CNRS, Toulouse, France

Volume

2

fYear

2001

fDate

15-18 Oct. 2001

Firstpage

691

Abstract

This paper presents a path planning algorithm for a tractor to execute specific farmwork tasks requiring the complete coverage of a field while minimizing the overlapping between successive passages. The proposed method is based on the determination of a set of characteristic points from which a graph is defined. The covering trajectory is determined by means of a greedy algorithm associated to a heuristic and a cost function minimization which is used to determine the best Hamiltonian solution in the graph.

Keywords

farming; path planning; position control; Hamiltonian solution; characteristic points; cost function minimization; covering trajectory; farmwork path planning; farmwork tasks; field coverage; greedy algorithm; minimum overlapping; tractor; Agricultural machinery; Closed loop systems; Control systems; Global Positioning System; Kinematics; Path planning; Real time systems; Sensor systems; Vehicles; Velocity control;

fLanguage

English

Publisher

ieee

Conference_Titel

Emerging Technologies and Factory Automation, 2001. Proceedings. 2001 8th IEEE International Conference on

Conference_Location

Antibes-Juan les Pins, France

Print_ISBN

0-7803-7241-7

Type

conf

DOI

10.1109/ETFA.2001.997759

Filename

997759