An algorithm for 3D terrain-following area coverage path planning is presented. Multiple adjacent paths are generated that are (i) locally apart from each other by a distance equal to the working width of a machinery, while (ii) simultaneously floating at a projection distance equal to a specific working height above the terrain. The complexities of the algorithm in comparison to its 2D equivalent are highlighted. These include uniformly spaced elevation data generation using an Inverse Distance Weighting-approach and a local search. Area coverage path planning results for real-world 3D data within an agricultural context are presented to validate the algorithm.

翻译：本文提出了一种用于三维地形跟随区域覆盖路径规划的算法。该算法生成多条相邻路径，这些路径（i）在局部彼此间隔等于机械工作宽度的距离，同时（ii）在投影距离上保持浮动，该距离等于地形上方的特定工作高度。文中重点阐述了该算法相较于其二维等效算法的复杂性，包括使用反距离加权方法和局部搜索生成均匀间距的高程数据。为验证算法，展示了在农业背景下利用真实世界三维数据进行的区域覆盖路径规划结果。