PATH PLANNING API
The path planning module is one of the most important pieces for any autonomous machine. Generally, the path planning accepts some input information, such as a map object, and generates a collision-free path that connects a start point to an end point. There are many different types of paths for different purposes. For example, in a coverage plan, a path is a series of points that allows the machine to visit every place of the environment at least once. A point-to-point path is a set of waypoints that connects a start point to an end point.
To generate a path, first we need to provide a map of the environment as the input to the path planning module. Path planning can be described in the following categories:
1. Headland generation
2. AB line generation
3. Turn planning
4. Point-to-point planning to set paths between arbitrary points across the farm
5. Path optimization module
6. Coverage planning to generate a complete path to cover 100% of a farm field
7. Multi-robot path planning to distribute tasks among machines
8. Online real-time path planning in scenarios such as autonomous obstacle avoidance, and adjustment of existing path plans during driving when machine conditions change
FEATURES
AB LINE GENERATION
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Generate AB lines for any implement
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Customize the angle of the AB lines
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Add custom skip/overlap between AB lines
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Shift all AB lines left or right by any distance
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Plan AB lines with zero collisions with field or obstacle boundaries
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Plan AB lines around small obstacles
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Merge AB lines with existing headlands
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Skip any number of AB lines
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Different skipping patterns:
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Skipping across the field
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Gradual skipping and covering
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Permanent skipping or strip patterns
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TURN PLANNING
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Plan turns between any two arbitrary points
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Take into account the speed of the machine on the planned turn
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Get all the feasible turn paths between two points
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Collision detection with field and obstacle boundaries
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Different merging policies with other path plans near the turn
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Different optimization policies for different applications, for example:
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Shortest length path
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Minimum curvature path
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Maximum clearance from the boundaries
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Single direction turns (e.g., left turn only)
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HEADLAND GENERATION
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Any number of headlands for the field
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Any number of headlands for internal boundaries or obstacles
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Each obstacle can have its own independent options for generating headlands
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Many different policies for merging multiple headlands together in complicated geometries
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When an obstacle is too close to the field boundary
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When multiple obstacles are too close to each other
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Skip any arbitrary headlands for any geometry
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Add overlap between headlands
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Connect headlands in any phase of the coverage
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Connect headlands around a boundary in any order
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Customize the direction of operating headlands for each individual headland
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Customize start and end points
REAL-TIME PLANNING
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Collision detection checking with any boundaries
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Velocity smoothing and profiling along the path plan
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Controlled stopping path planning
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Runs in less than 100 milliseconds
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Support for real-time obstacle avoidance
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Road driving path planning
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Real-time headland path generation
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Real-time mapping of boundaries
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Point-to-point path planning
PATH OPTIMIZATION
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Connect many path plans together optimally to create a complex mission, for example:
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Optimally connecting AB lines with headlands and turns to form a coverage plan
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Connecting all field and obstacle headlands together with a custom order of operation
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Simplify existing path plans with certain objective, for example:
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Shortest length path
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Minimum curvature path
ARBITRARY POINTS
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Plan a path between two or more points across the farm
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Obstacle avoidance
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Different merging policies with other path plans and boundaries
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Different optimization policies for different applications, for example:
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Shortest length path
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Minimum curvature path
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Maximum clearance from boundaries
MULTI-ROBOT PLANNING
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Plan paths for all the fields across the farm
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Distribute the path plans for one or more machines
100% FIELD COVERAGE
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Plan a complete coverage for a farm field including the field boundary and obstacle boundaries, including headlands, AB lines, turns, and point-to-point paths
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Customize speed profiles across the coverage plan, allowing for different speeds in different areas such as AB lines versus turns
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Get statistics about planned coverage such as total length, and estimated duration of operation
