Trimble Inc.
HEADLAND-FOLLOWING TURNS

Abstract:

A method of path planning for an autonomous vehicle to make a turn includes receiving a request for a turn of a vehicle from a current swath to a next swath in a work area. The work area has a headland at a periphery thereof, and the headland is characterized by a guidance line therethrough. The method further includes receiving information of the current swath, information of the next swath, and information of the guidance line, and determining a trajectory of the turn based on the information of the current swath, the information of the next swath, and the information of the guidance line. The trajectory includes one or more segments. At least a portion of a first segment of the one or more segments follows the guidance line in the headland. The method further includes, outputting the trajectory to a control system of the vehicle for executing the turn.