Optimization-Based Motion Planning for Autonomous Agricultural Vehicles Turning in Constrained Headlands

Open fields usually provide sufficient space for AAVs to perform headland maneuvers, or alternatively, Autonomous agricultural vehicles (AAVs), such as field the cultivation layout can be adapted to facilitate these robots and autonomous tractors, are gathering increased attention maneuvers. Therefore, research has mainly focused on optimal in modern farming operations. As research and investment pre-planning of the cultivation layouts, coverage path planning in this technology continue to advance, the deployment (Jin and Tang, 2010; Spekken and de Bruin, 2013; Mier of AAVs in the field is becoming more prevalent. A critical et al., 2023), and minimizing non-working distances for vehicles component of these autonomous operations is headland turning, in headlands through global planning of optimal traversal which involves sharp turns performed by the AAVs at the end sequences (Bochtis and Vougioukas, 2008).