This paper 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 paper, 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.
翻译:本文介绍Fields2Cover,这是用于农业车辆覆盖路径规划(CPP)的新颖的开放源码图书馆,虽然目前已有几种CPP解决方案,但将其整合为开放源码图书馆和提供基准工具以比较其业绩的努力有限。Field2Cover为规划覆盖路径、开发新技术和制定最新算法提供了框架。图书馆有一个模块和可扩展的架构,支持各种车辆,可用于各种应用,包括农场。核心模块包括:头地发电机、跳地发电机、路线规划器和路径规划器。机器人操作系统的接口也作为附加内容提供。本文展示了图书馆规划农业覆盖路径的功能,使用了8种最先进的方法和7种模拟和实地实验的客观功能。