This paper presents within an arable farming context a predictive logic for the on- and off-switching of a set of nozzles. The predictive logic is tailored to a specific path planning pattern. The nozzles are assumed to be attached to a boom aligned along a working width and carried by a machinery with the purpose of applying spray along the working width. The machinery is assumed to be traveling along the specific path planning pattern. Concatenation of multiple of those path patterns and corresponding concatenation of proposed switching logics enables nominal lossless spray application for area coverage tasks. Proposed predictive switching logic is compared to the common and state-of-the-art reactive switching logic for Boustrophedon-based path planning for area coverage. The trade-off between reduction in pathlength and increase in the number of required on- and off-switchings for proposed method is discussed.

翻译：本文在耕地农业背景下提出了一种用于一组喷嘴开关控制的预测性逻辑。该预测性逻辑专为特定路径规划模式设计。假设喷嘴安装在与作业宽度对齐的喷杆上，由机械设备携带，用于沿作业宽度进行喷雾作业。假定机械设备沿特定路径规划模式行进。通过将多个此类路径模式及其对应的所提开关逻辑进行串联，可实现区域覆盖任务中名义上的无损耗喷雾施药。本文将所提出的预测性开关逻辑与基于Boustrophedon路径规划的区域覆盖任务中常见且先进的反应式开关逻辑进行了比较。文中讨论了所提方法在路径长度减少与所需开关次数增加之间的权衡关系。