Farmwork path planning for field coverage with minimum overlapping

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.