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：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）在局部上彼此相距等于机械工作宽度的距离，同时（ii）漂浮在地形上方等于特定工作高度的投影距离处。突出显示了该算法与其二维对应算法相比的复杂性。这些复杂性包括使用反距离加权方法和局部搜索生成均匀间隔的高程数据。为验证该算法，展示了农业场景下真实三维数据的区域覆盖路径规划结果。