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- W285921514 abstract "If the shape of field plot is not rectangular and if it contains obstacles, the coverage path planning problem is hard to solve for a non-omnidirectional machine. Scientists have developed several algorithms to solve this coverage path planning problem, but all of them have pros and cons. If the machines were omnidirectional and turning times were decreased to insignificant, the problem would be quite easy to solve using known robotic path planning methods. Servicing (refilling or emptying) is integrated to the algorithm. This algorithm is designed for real-time usage and it solves the problem recursively: the operated area is removed from the field and the algorithm is repeated until the whole field plot is completed. In this paper the focus is on servicing add-on to the algorithm. In servicing subalgorithm it is first detected through simulation when servicing is required. When the servicing is required, the subalgorithm finds best possible phase to make servicing. Generally, the algorithm tries to minimize the distance from ends of operational swaths to the service points. The results of this algorithm together with earlier developed coverage path planning algorithm are sensible." @default.
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- W285921514 date "2008-01-01" @default.
- W285921514 modified "2023-09-24" @default.
- W285921514 title "Coverage Path Planning for Field Operations with Service Scheduling" @default.
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