Headland maneuvering is a crucial aspect of unmanned field operations for autonomous agricultural vehicles (AAVs). While motion planning for headland turning in open fields has been extensively studied and integrated into commercial auto-guidance systems, the existing methods primarily address scenarios with ample headland space and thus may not work in more constrained headland geometries. Commercial orchards often contain narrow and irregularly shaped headlands, which may include static obstacles,rendering the task of planning a smooth and collision-free turning trajectory difficult. To address this challenge, we propose an optimization-based motion planning algorithm for headland turning under geometrical constraints imposed by field geometry and obstacles.

翻译：地头转向是自主农业车辆（AAVs）无人田间作业的关键环节。尽管开阔田间地头转向的运动规划问题已得到广泛研究，并已集成到商用自动导航系统中，但现有方法主要处理地头空间充足的情况，因此可能无法适用于更受限的地头几何结构。商业果园常存在狭窄且形状不规则的地头空间，可能包含静态障碍物，使得规划平滑且无碰撞的转向轨迹变得困难。针对这一挑战，我们提出了一种基于优化的运动规划算法，用于处理田间几何结构及障碍物所施加的几何约束下的地头转向。