发表机构
Technical University of Munich; Munich Institute of Robotics and Machine Intelligence（慕尼黑工业大学; 慕尼黑机器人与机器智能研究所）
机构由 AI 辅助整理，请以论文原文为准。AI 中文总结
该研究针对农田自动驾驶地头覆盖路径规划问题，提出修改多边形角落以实现倒车转向的新方法，在特定角度角落覆盖效果优于现有方法，适用性经真实田地图验证。
AI 中文摘要
本文提出了一种适用于农田的新地头覆盖路径规划方法。现有若干早期方法建议用嵌套多边形和平滑转弯覆盖地头，但要完全覆盖农田角落需倒车操作。该新方法修改多边形角落以允许倒车转向。与另外两种方法在间隙、重叠和跨田界方面的对比显示，覆盖结果有改善，尤其在约90度、240度及以上的农田角落。通过多个真实多边形田地图示例验证了该新方法的适用性。
英文摘要
This paper presents a new method for headland coverage path planning for arable fields. Several earlier approaches suggest covering the headland with nested polygons and smooth turns, however, covering the field corners entirely requires manoeuvres with reversing. In the new method, the polygon corners are modified to allow a reversing turn. A comparison to two other methods considering gap, overlap, and crossing the field boundary shows an improvement in the coverage result especially in field corners of around 90 degrees, and 240 degrees and above. Applicability of the new method is shown with several examples of real polygonal field maps.
