An Optimized Field Coverage Planning Approach for Navigation of Agricultural Robots in Fields Involving Obstacle Areas

International Journal of Advanced Robotic Systems

关键词: Agricultural Vehicles;    Mission Planning;    Complete Coverage;    Genetic Algorithms;   

DOI  :  10.5772/56248

学科分类：自动化工程

来源: InTech

【 摘 要 】

Abstract Technological advances combined with the demand of cost efficiency and environmental considerations has led farmers to review their practices towards the adoption of new managerial approaches, including enhanced automation. The application of field robots is one of the most promising advances among automation technologies. Since the primary goal of an agricultural vehicle is the complete coverage of the cropped area within a field, an essential prerequisite is the capability of the mobile unit to cover the whole field area autonomously. In this paper, the main objective is to develop an approach for coverage planning for agricultural operations involving the presence of obstacle areas within the field area. The developed approach involves a series of stages including the generation of field-work tracks in the field polygon, the clustering of the tracks into blocks taking into account the in-field obstacle areas, the headland paths generation for the field and each obstacle area, the implementatio...

【 授权许可】

CC BY