Optimal Coverage Path Planning for Arable Farming on 2D Surfaces

dc.contributor.author Jin, Jian
dc.contributor.author Tang, Lie
dc.contributor.author Tang, Lie
dc.contributor.department Agricultural and Biosystems Engineering
dc.date 2018-02-13T08:20:17.000
dc.date.accessioned 2020-06-29T22:38:59Z
dc.date.available 2020-06-29T22:38:59Z
dc.date.copyright Fri Jan 01 00:00:00 UTC 2010
dc.date.embargo 2013-04-02
dc.date.issued 2010-01-01
dc.description.abstract <p>With the rapid adoption of automatic guidance systems in agriculture, automated path planning has great potential to further optimize field operations. Field operations should be done in a manner that minimizes time and travel over field surfaces and should be coordinated with specific field operation requirements, machine characteristics, and topographical features of arable lands. To reach this goal, an intelligent coverage path planning algorithm is the key. To determine the full coverage pattern of a given field by using boustrophedon paths, it is necessary to know whether to and how to decompose a field into sub-regions and how to determine the travel direction within each sub-region. A geometric model was developed to represent this coverage path planning problem, and a path planning algorithm was developed based on this geometric model. The search mechanism of the algorithm was guided by a customized cost function resulting from the analysis of different headland turning types and implemented with a divide-and-conquer strategy. The complexity of the algorithm was analyzed, and methods for reducing the computational time are discussed. Field examples with complexity ranging from a simple convex shape to an irregular polygonal shape that has multiple obstacles within its interior were tested with this algorithm. The results were compared with other reported approaches or farmers' recorded patterns. These results indicate that the proposed algorithm was effective in producing optimal field decomposition and coverage path direction in each sub-region.</p>
dc.description.comments <p>This article is from <em>Transactions of the ASABE </em>53, no. 1 (2010): <a href="http://elibrary.asabe.org/abstract.asp?aid=29488&t=3&dabs=Y&redir=&redirType=" target="_blank">283–295</a>.</p>
dc.format.mimetype application/pdf
dc.identifier archive/lib.dr.iastate.edu/abe_eng_pubs/336/
dc.identifier.articleid 1618
dc.identifier.contextkey 3984972
dc.identifier.s3bucket isulib-bepress-aws-west
dc.identifier.submissionpath abe_eng_pubs/336
dc.identifier.uri https://dr.lib.iastate.edu/handle/20.500.12876/1091
dc.language.iso en
dc.source.bitstream archive/lib.dr.iastate.edu/abe_eng_pubs/336/2010_JinJ_OptimalCoveragePath.pdf|||Fri Jan 14 23:39:31 UTC 2022
dc.subject.disciplines Agriculture
dc.subject.disciplines Bioresource and Agricultural Engineering
dc.subject.keywords Auto guidance
dc.subject.keywords Boustrophedon path
dc.subject.keywords Coverage path
dc.subject.keywords Field decomposition
dc.subject.keywords Optimal path planning
dc.subject.keywords Turning cost
dc.title Optimal Coverage Path Planning for Arable Farming on 2D Surfaces
dc.type article
dc.type.genre article
dspace.entity.type Publication
relation.isAuthorOfPublication e60e10a5-8712-462a-be4b-f486a3461aea
relation.isOrgUnitOfPublication 8eb24241-0d92-4baf-ae75-08f716d30801
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