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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| Vydané v: | IEEE robotics and automation letters Ročník 8; číslo 4; s. 1 - 8 |
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| Hlavní autori: | , , |
| Médium: | Journal Article |
| Jazyk: | English |
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Piscataway
IEEE
01.04.2023
The Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
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| ISSN: | 2377-3766, 2377-3766 |
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| Abstract | 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. |
|---|---|
| AbstractList | This letter describes 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 letter, 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. 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. |
| Author | de Bruin, Sytze Mier, Gonzalo Valente, Joao |
| Author_xml | – sequence: 1 givenname: Gonzalo orcidid: 0000-0002-7588-9911 surname: Mier fullname: Mier, Gonzalo organization: Laboratory of Geo-Information Science and Remote Sensing, Wageningen University & Research, Wageningen, The Netherlands – sequence: 2 givenname: Joao orcidid: 0000-0002-6241-4124 surname: Valente fullname: Valente, Joao organization: Information Technology Group, Wageningen University & Research, Wageningen, The Netherlands – sequence: 3 givenname: Sytze orcidid: 0000-0002-6884-2832 surname: de Bruin fullname: de Bruin, Sytze organization: Laboratory of Geo-Information Science and Remote Sensing, Wageningen University & Research, Wageningen, The Netherlands |
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| Cites_doi | 10.1016/j.biosystemseng.2015.08.005 10.1016/j.biosystemseng.2013.08.012 10.1109/cec.2008.4630868 10.3390/agronomy12051151 10.3846/1648-4142.2009.24.14-20 10.1109/icmeae.2017.11 10.1016/j.compag.2015.10.012 10.1016/j.compag.2016.03.013 10.1109/rcar.2017.8311915 10.1109/icara55094.2022.9738525 10.2140/pjm.1990.145.367 10.1002/rob.20300 10.31274/etd-180810-3122 10.1109/tase.2020.3016276 10.1596/1813-9450-9193 10.1109/icra.2016.7487234 10.1007/978-981-15-9460-1_20 10.2307/2372560 10.1109/icra.2018.8460566 10.1016/j.biosystemseng.2020.08.007 10.31274/etd-180810-2966 10.1016/j.biosystemseng.2013.07.009 |
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| References | ref13 ref11 ref33 ref2 Field (ref32) 2023 ref1 ref17 ref16 ref19 ref18 Baehnemann (ref10) 2023 ref24 ref23 ref26 ref25 ref20 ref22 ref21 Google (ref31) 2023 Beazley (ref30) 1996 ref28 Clephas (ref7) 2023 ref27 (ref29) 2023 Jiaping (ref6) 2023 IPA (ref8) 2023 Stelter (ref15) 2023 ref9 ref4 ref3 ref5 Vasquez (ref12) 2023 Greenzie (ref14) 2023 |
| References_xml | – year: 2023 ident: ref12 article-title: Irvingvasquez/ocpp github – ident: ref24 doi: 10.1016/j.biosystemseng.2015.08.005 – ident: ref25 doi: 10.1016/j.biosystemseng.2013.08.012 – ident: ref19 doi: 10.1109/cec.2008.4630868 – ident: ref28 doi: 10.3390/agronomy12051151 – ident: ref33 doi: 10.3846/1648-4142.2009.24.14-20 – year: 2023 ident: ref10 article-title: Ethz-asl/polygon_ coverage_planning github – start-page: 74 volume-title: Proc. Tcl/Tk Workshop year: 1996 ident: ref30 article-title: SWIG: An easy to use tool for integrating scripting languages with C and C++ – ident: ref13 doi: 10.1109/icmeae.2017.11 – year: 2023 ident: ref31 article-title: Protobuf on c – ident: ref20 doi: 10.1016/j.compag.2015.10.012 – ident: ref21 doi: 10.1016/j.compag.2016.03.013 – ident: ref4 doi: 10.1109/rcar.2017.8311915 – year: 2023 ident: ref8 article-title: Ipa320/ipa_coverage_planning github – ident: ref26 doi: 10.1109/icara55094.2022.9738525 – year: 2023 ident: ref14 article-title: Greenzie/boustrophedon_planner github – ident: ref23 doi: 10.2140/pjm.1990.145.367 – ident: ref5 doi: 10.1002/rob.20300 – year: 2023 ident: ref15 article-title: Ipiano/coverage-planning github: Quickopp implementation – year: 2023 ident: ref29 article-title: oneapi threading building blocks – ident: ref17 doi: 10.31274/etd-180810-3122 – ident: ref3 doi: 10.1109/tase.2020.3016276 – year: 2023 ident: ref6 article-title: Rjjxp/coverageplanning github – ident: ref1 doi: 10.1596/1813-9450-9193 – ident: ref9 doi: 10.1109/icra.2016.7487234 – ident: ref11 doi: 10.1007/978-981-15-9460-1_20 – ident: ref22 doi: 10.2307/2372560 – ident: ref2 doi: 10.1109/icra.2018.8460566 – year: 2023 ident: ref32 article-title: Rosbag package – ident: ref27 doi: 10.1016/j.biosystemseng.2020.08.007 – year: 2023 ident: ref7 article-title: Nobleo/full_coverage_path_planner github – ident: ref16 doi: 10.31274/etd-180810-2966 – ident: ref18 doi: 10.1016/j.biosystemseng.2013.07.009 |
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| Snippet | This paper describes Fields2Cover<xref ref-type="fn" rid="fn1"> 1 1
https://github.com/Fields2Cover/Fields2Cover
, a novel open source library for coverage... This letter describes Fields2Cover, a novel open source library for coverage path planning (CPP) for agricultural vehicles. While there are several CPP... |
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| SubjectTerms | 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 |
| Title | Fields2Cover: An open-source coverage path planning library for unmanned agricultural vehicles |
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