公开(公告)号：WO2023283200A1

公开(公告)日：2023-01-12

申请号：PCT/US2022/036144

申请日：2022-07-05

Applicant: BEAR FLAG ROBOTICS, INC.

Inventor： HEBB, Daniel ,  HUBER-FEELY, Noah

IPC: A01B69/04 ,  G05D1/02 ,  A01B69/008 ,  A01B79/005 ,  G05D1/0219 ,  G05D1/0274 ,  G05D1/028 ,  G05D2201/0201

Abstract: Systems and methods for agricultural path planning are described. For example, a method includes accessing a boundary data structure that encodes a polygon on a map; generating a set of parallel line segments of a path for a vehicle on the map inside of the polygon; generating a first line segment of the path connecting an ending-point of one of the line segments of the set to a starting-point of another one of the line segments of the set; identifying a first point on the first line segment that is a maximum distance from the polygon; and splitting the first line segment into two line segments, having a starting-point matching a starting-point of the first line segment and an ending-point matching an ending-point of the first line segment, that connect at a second point on the polygon encoded by the boundary data structure that is closest to the first point.