摘要
Within the context of in-field path planning this paper discusses freeformpath fitting for theminimisation of the number of transitions between headland path and interior laneswithin agricultural fields.This topic ismotivated by two observations.Due to crossings of tyre traces such transitions in practice often cause an increase of compacted area.Furthermore,for very tight angles between headland path and interior lanes undesired hairpin turnsmay becomenecessary due to the limited agility of in-field operating tractors.Byminimising the number of interior lanes both detrimental effects can be mitigated.The potential of minimising the number of interior lanes by freeform path fitting is evaluated on 10 non-convex real-world fields including obstacle areas,and compared to the more common technique of fitting straight interior lanes.
