Complete coverage path planning of a random polygon - A FroboMind component

Sebastian Aslund, Kjeld Jensen, Rasmus Nyholm Jørgensen

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Abstrakt

The aim of this work is to have an universal solution for complete coverage which will be a component in the FroboMind architecture suggested by Kjeld Jensen in [9].
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Compared to previously work done within the field of coverage path planning this work presents a complete, universal and generic solution where all the steps in the process is included: Segmentation of a data set, creation of a configuration space, decomposition of a polygon, global and local path planning.
To achieve this, a series of known algorithms are used including some tweaks and improvements to create a solid foundation for the FroboMind architecture and the agricultural community to explore and develop new algorithms for coverage path planning. Furthermore will the project be tested and verified by implementing it on a vehicle based on the FroboMind architecture.
OriginalsprogEngelsk
Publikationsdato30. jun. 2011
Antal sider6
StatusUdgivet - 30. jun. 2011
BegivenhedNJF seminar 441, Automation and System Technology in Plant Production CIGR section V & NJF section VII conference - Hammerum - Herning, Danmark
Varighed: 30. jun. 20111. jul. 2011

Seminar

SeminarNJF seminar 441, Automation and System Technology in Plant Production CIGR section V & NJF section VII conference
Land/OmrådeDanmark
ByHammerum - Herning
Periode30/06/201101/07/2011

Bibliografisk note

NJF seminar 441
Automation and System Technology in Plant Production
CIGR section V & NJF section VII conference
30 June - 2 July 2011 Denmark

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