70945

Автор(ы): 
Рапопорт Л. Б. (ИПУ РАН, Лаборатория 16) НЕАКТУАЛЬНАЯ ЗАПИСЬ
Автор(ов): 

2

Параметры публикации
Тип публикации: 
Пленарный доклад
Название: 
Coverage Path Planning with Constraints on Normal Curvature for a Three-dimensional Terrain with Obstacles
Электронная публикация: 
Да
DOI: 
DOI: 10.1109/STAB54858.2022.9807549
Наименование конференции: 
2022 16th International Conference on Stability and Oscillations of Nonlinear Control Systems (Pyatnitskiy's Conference)
Наименование источника: 
Proceedings of the 16th International Conference on Stability and Oscillations of Nonlinear Control Systems (Pyatnitskiy's Conference)
Город: 
Москва
Издательство: 
IEEE Explore Digital Library
Год издания: 
2022
Страницы: 
1-2
Аннотация
In precision agriculture, the problem of constructing covering paths often appears. It consists in planning some route for an agricultural machine that allows to process field without skipping. Nearly parallel paths are often used for this purpose. If a field is processed by a machine with front wheels steering, then the rear axle center should follow the trajectory with limited normal curvature. Threshold value of normal curvature is determined by the characteristics of the machine. In addition, we must take into account the location of obstacles in the field. In this paper the complete coverage path planning method based on convex optimization is proposed.
Библиографическая ссылка: 
Тормагов Т.А., Рапопорт Л.Б. Coverage Path Planning with Constraints on Normal Curvature for a Three-dimensional Terrain with Obstacles / Proceedings of the 16th International Conference on Stability and Oscillations of Nonlinear Control Systems (Pyatnitskiy's Conference). М.: IEEE Explore Digital Library, 2022. С. 1-2.