Smoothing of Headland Path Edges and Headland-to-Mainfield Lane Transitions Based on a Spatial Domain Transformation and Linear Programming
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arXiv
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| Format: | Preprint |
| Publié: |
2024
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| _version_ | 1866912463496151040 |
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| author | Plessen, Mogens |
| author_facet | Plessen, Mogens |
| contents | 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. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2407_05979 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | Smoothing of Headland Path Edges and Headland-to-Mainfield Lane Transitions Based on a Spatial Domain Transformation and Linear Programming Plessen, Mogens Robotics 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. |
| title | Smoothing of Headland Path Edges and Headland-to-Mainfield Lane Transitions Based on a Spatial Domain Transformation and Linear Programming |
| topic | Robotics |
| url | https://arxiv.org/abs/2407.05979 |