论文标题
FIELDS2COVER：无人农业车辆的开源覆盖路径计划图书馆
Fields2Cover: An open-source coverage path planning library for unmanned agricultural vehicles
论文作者
论文摘要
本文介绍了Fields2Cover，这是一个用于农业车辆覆盖路径计划（CPP）的新型开源库。虽然如今有几种CPP解决方案，但仍有有限的努力将它们统一到开源库中，并提供了比较其性能的基准测试工具。 Fields2-Cover提供了一个计划覆盖路径，开发新颖技术和基准制定最新算法的框架。该图书馆具有模块化且可扩展的架构，该体系结构支持各种车辆，可用于包括农场在内的各种应用程序。它的核心模块是：岬角发电机，围绕发电机，路线策划者和路径策划者。机器人操作系统（ROS）的接口也作为附加组件提供。在本文中，使用8种最先进的方法和7个目标函数在模拟和现场实验中证明了计划农业覆盖路径的库功能。
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.
