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Smoothing of Headland Path Edges and Headland-to-Mainfield Lane Transitions Based on a Spatial Domain Transformation and Linear Programming

Main:11 Pages
14 Figures
Bibliography:2 Pages
4 Tables
Abstract

Within the context of in-field path planning and under the assumption of nonholonomic vehicle models this paper addresses two tasks: smoothing of headland path edges and smoothing of headland-to-mainfield lane transitions. Both tasks are solved by a two-step hierarchical algorithm. The first step differs for the two tasks generating either a piecewise-affine or a Dubins reference path. The second step leverages a transformation of vehicle dynamics from the time domain into the spatial domain and linear programming. Benefits such as a hyperparameter-free objective function and spatial constraints useful for area coverage gaps avoidance and precision path planning are discussed. The method, which is a deterministic optimisation-based method, is evaluated on 5 real-world fields solving 19 instances of the first task and 84 instances of the second task.

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@article{plessen2025_2407.05979,
  title={ Smoothing of Headland Path Edges and Headland-to-Mainfield Lane Transitions Based on a Spatial Domain Transformation and Linear Programming },
  author={ Mogens Plessen },
  journal={arXiv preprint arXiv:2407.05979},
  year={ 2025 }
}
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