A Decomposition Framework for the Autonomous Navigation of Agricultural Vehicles
All machine operations require careful – optimal - planning. Furthermore, the execution of preplanned motions should be very accurate, reliable and - above all - safe for human life, for the vehicle itself and for the crops. Optimization of the entire planning and execution problem is not realistic, because of the complexity of the problem. This paper proposes a decomposition of autonomous navigation for agricultural production in four stages: field coverage planning, motion and action sequence generation, point-to-point motion planning and trajectory generation, motion and operations execution. All these stages are discussed in detail, in order to present the state of the art in their implementations and to pinpoint focus areas for future research.
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