Fields2Cover: An open-source coverage path planning library for unmanned agricultural vehicles

This paper describes Fields2Cover<xref ref-type="fn" rid="fn1"> 1 1 https://github.com/Fields2Cover/Fields2Cover , a novel open source library for coverage path planning (CPP) for agricultural vehicles. While there are several CPP solutions nowadays, there have been limited...

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Veröffentlicht in:IEEE robotics and automation letters Jg. 8; H. 4; S. 1 - 8
Hauptverfasser: Mier, Gonzalo, Valente, Joao, de Bruin, Sytze
Format: Journal Article
Sprache:Englisch
Veröffentlicht: Piscataway IEEE 01.04.2023
The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Schlagworte:
Agricultural Automation
Agricultural vehicles
Algorithms
Benchmarks
Field Robots
Generators
Headlands
Libraries
Linear programming
Path planning
Planning
Robots
Software algorithms
Software Architecture for Robotic and Automation
ISSN:2377-3766, 2377-3766
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Zusammenfassung:This paper describes Fields2Cover<xref ref-type="fn" rid="fn1"> 1 1 https://github.com/Fields2Cover/Fields2Cover , a novel open source library for coverage path planning (CPP) for agricultural vehicles. While there are several CPP solutions nowadays, there have been limited efforts to unify them into an open source library and provide benchmarking tools to compare their performance. Fields2Cover provides a framework for planning coverage paths, developing novel techniques, and benchmarking state-of-the-art algorithms. The library features a modular and extensible architecture that supports various vehicles and can be used for a variety of applications, including farms. Its core modules are: a headland generator, a swath generator, a route planner and a path planner. An interface to the Robot Operating System (ROS) is also supplied as an add-on. In this paper, the functionalities of the library for planning a coverage path in agriculture are demonstrated using 8 state-of-the-art methods and 7 objective functions in simulation and field experiments.
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ISSN:2377-3766
2377-3766
DOI:10.1109/LRA.2023.3248439