Path-Planning Algorithm for Vehicle Operating in Orchards
Tamir Blass, Raphael Linker, Itzhak Shmulevich · 2006
Navigation in orchards is difficult due to the high number of obstacles that limit visibility and leave minimal room for manoeuvring. This study presents a simple path-planning algorithm that could assist the vehicle's driver by suggesting the most appropriate path between two locations. The orchard is represented by a set of grid-maps that include the orchard's topography, the locations of the obstacles, and optional additional information such as regions in which travel should be preferred or avoided. The vehicle's description is kept as simple as possible and includes only the permissible directions of travel relative to current heading. A cost is associated with each action, such as driving on an incline or turning, and the algorithm computes the path that is optimal in terms of the user-defined criterion.