학술논문
Fields2Cover: An Open-Source Coverage Path Planning Library for Unmanned Agricultural Vehicles
Document Type
Periodical
Author
Source
IEEE Robotics and Automation Letters IEEE Robot. Autom. Lett. Robotics and Automation Letters, IEEE. 8(4):2166-2172 Apr, 2023
Subject
Language
ISSN
2377-3766
2377-3774
2377-3774
Abstract
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.