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无人田间作业的关键环节。尽管针对开阔田地中地头转向的运动规划已被广泛研究并集成到商用自动导航系统中，但现有方法主要适用于地头空间充裕的场景，因此在更受限制的地头几何结构中可能失效。商业果园常包含狭窄且形状不规则的地头区域，其中可能存在静态障碍物，这使得规划平滑无碰撞的转向轨迹变得困难。为应对这一挑战，我们提出一种基于优化的运动规划算法，用于在田块几何结构与障碍物施加的几何约束下进行地头转向。