Path Planning

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

Get Quote

Autonomy is only a few clicks away

Features

Headland Generation

AB Line Generation

Turn Planning

Arbitrary Points

Any number of headlands for the field
Any number of headlands for internal boundaries or obstacles
- Each obstacle can have its own independent options for generating headlands
Many different policies for merging multiple headlands together in complicated geometries
- When an obstacle is too close to the field boundary
- When multiple obstacles are too close to each other
Skip any arbitrary headlands for any geometry
Add overlap between headlands
Connect headlands in any phase of the coverage
Connect headlands around a boundary in any order
Customize the direction of operating headlands for each individual headland
Customize start and end points

Generate AB lines for any implement
Customize the angle of the AB lines
Add custom skip/overlap between AB lines
Shift all AB lines left or right by any distance
Plan AB lines with zero collisions with field or obstacle boundaries
Plan AB lines around small obstacles
Merge AB lines with existing headlands
Skip any number of AB lines
Different skipping patterns:
- Skipping across the field
- Gradual skipping and covering
- Permanent skipping or strip patterns

Plan turns between any two arbitrary points
Take into account the speed of the machine on the planned turn
Get all the feasible turn paths between two points
Collision detection with field and obstacle boundaries
Different merging policies with other path plans near the turn
Different optimization policies for different applications, for example:
- Shortest length path
- Minimum curvature path
- Maximum clearance from the boundaries
- Single direction turns (e.g., left turn only)

Plan a path between two or more points across the farm
Obstacle avoidance
Different merging policies with other path plans and boundaries
Different optimization policies for different applications, for example:
- Shortest length path
- Minimum curvature path
- Maximum clearance from boundaries

Path Optimization

Connect many path plans together optimally to create a complex mission, for example:
- Optimally connecting AB lines with headlands and turns to form a coverage plan
- Connecting all field and obstacle headlands together with a custom order of operation
Simplify existing path plans with certain objective, for example:
- Shortest length path
- Minimum curvature path

100% Field Coverage

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
Customize speed profiles across the coverage plan, allowing for different speeds in different areas such as AB lines versus turns
Get statistics about planned coverage such as total length, and estimated duration of operation