Smoothing of Headland Path Edges and Headland-to-Mainfield Lane Transitions Based on a Spatial Domain Transformation and Linear Programming
<|reference_start|>Smoothing of Headland Path Edges and Headland-to-Mainfield Lane Transitions Based on a Spatial Domain Transformation and Linear Programming: 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 a real-world field solving 3 instances of the first task and 16 instances of the second task.<|reference_end|>
@article{plessen2024smoothing,
    title={Smoothing of Headland Path Edges and Headland-to-Mainfield Lane
  Transitions Based on a Spatial Domain Transformation and Linear Programming},
    author={Mogens Plessen},
    journal={arXiv preprint arXiv:2407.05979},
    year={2024},
    archivePrefix={arXiv},
    eprint={2407.05979},
    primaryClass={cs.RO}
}