Abstract:Aiming to address the autonomous operation requirements of robotic platforms under controlled traffic farming, a universally applicable full production cycle path planning method for polygonal agricultural fields was proposed. The method constructed a dual-layer structure comprising a primary permanent road network and a suboperation path layer. Paths in the steering reserved area were planned through equidistant scaling and vertex smoothing, while the row direction in the central operation area was determined by minimizing the projection length perpendicular to the travel direction. An interval-shuttle traversal sequence was designed for the primary road network, and an adjacent-shuttle sequence was adopted for the sub-operation path layer. Dubins curves were employed to design transitional paths, while potential elastic entry/exit points were incorporated to address path connectivity challenges caused by operational elasticity interruptions. The sequential quadratic programming algorithm was employed to generate paths satisfying kinematic constraints, eliminating curvature discontinuity defects inherent in traditional linear-arc path planning. Field experiments on robotic platforms demonstrated that, for convex/concave polygonal fields, the planned paths achieved 77.21% operational path length proportion in primary road path length proportion, 56.87% operational path proportion in sub-operation layer, 90.65% operational coverage rate for both layers, maximum curvature change rate was not greater than 0.04m-2, jerk limit was not greater than 0.05m-3, and total soil compaction area ratio was 8.83%, successfully confining all production cycle paths to permanent fixed roads and fulfilling CTF requirements for robotic operation platforms.
