Optimal In-field Routing for Full and Partial Field Coverage with Arbitrary Non-Convex Fields and Multiple Obstacle Areas

摘要: Within the context of optimising logistics in agriculture this paper relates to optimal in-field routing for full and partial field coverage with arbitrary non-convex fields multiple obstacle areas. It is distinguished between nine different tasks: two full-field coverage, seven partial-field one shortest path planning any vertices transition graph. differentiates equal or start end a task, only subset vertices, edges combinations. The proposed methods are developed primarily applying sprays fertilisers larger operating widths where there unique headland path. Partial where, e.g., specific has be covered relevant precision also optimised logistical operation smaller-sized machinery limited loading capacities. result research proposition compatible algorithms planning, respectively. These evaluated on three real-world demonstrate their characteristics computational efficiency.