Coverage path planning based on a multiple sweep line decomposition

Optimal guidance track generation for precision agriculture: A review of coverage path planning techniques

“…F I G U R E 15 Different sweepline based decomposition techniques with the considered events (green), assuming a vertical sweepline. (a) Trapezoidal (Choset et al, 2005), (b) Boustrophedon (Choset et al, 2000), (c) Alternative Boustrophedon decomposition perpendicular to sweepline direction (Pham et al, 2017), (d) Boustrophedon including concave inflections (Yu & Hung, 2015). in Huang (2001), where multiple events can occur simultaneously and an event can also consist of a sequence of consecutive vertices.…”

“…As such, research often seeks to minimize the number of maneuvers as a means of indirectly optimizing for operation time, conserving energy and extending fuel use (Cabreira et al, 2019). A large part of the literature uses the criterion of minimizing the number of parallel tracks, and thus the number of turning maneuvers (Cabreira et al, 2019; Huang, 2001; Li et al, 2011; Torres et al, 2016; Yu & Hung, 2015). The costs to cover a convex polygon $$P$$ with guidance tracks with an angle $$\theta $$ are then defined by $$$C(\theta ;P)={n}_{P}^{\theta }.$$$…”

“…In Yu and Hung (2015) a sweepline decomposition that results in convex cells is presented. This technique combines the trapezoidal and Boustrophedon decomposition to balance out the disadvantages of both.…”

“…}\,\,{\mathscr{T}}({\theta }_{p})\,\,\text{covers}\,\,p,\end{array}\right.\end{array}$ where $${{\rm{\Theta }}}_{p}\subset [0,\pi ]$$ denotes the set of feasible track direction for cell $$p$$. This bilevel approach is utilized for example in Yu and Hung (2015), where the cost function represents the width of the cell. In the case that the optimal track directions of two entirely adjacent cells are equal, these cells are merged in a subsequent step.…”

“…For this approach, only the event types Merge and Split are considered, the events Open and Close do not trigger a decomposition in that point. It is shown that this adaption leads to a decrease of the number of cells after decomposition, and that it works well also with several concave obstacles in the area.InYu and Hung (2015) a sweepline decomposition that results in convex cells is presented. This technique combines the trapezoidal and Boustrophedon decomposition to balance out the disadvantages of both.…”