Authors

Abstract

This paper proposes a Hybrid Complete Coverage Path Planning (HCCPP) algorithm to enhance the efficiency and smoothness of suspended mowers operating in convex polygonal fields. Combining straight-in, nested, and outward-spiral strategies, it optimizes internal and boundary coverage while using Hybrid A* and Bézier curves for smooth transitions. The simulation experiment uses a suspended lawn mower (Dongfanghong LX804 rear lawn mower) as the test platform, with parameters: dimensions of 6.50 m × 2.17 m × 2.87 m, working width of 2.5 m, minimum turning radius of 6.2 m, and minimum row spacing of 12.5 m. The simulation experiment of running 5 times for each of the 3 plots shows that HCCPP achieves >99.7% coverage, <5.4% overlap, 4–9% shorter paths, and lower curvature variation, outperforming traditional methods and offering an efficient solution for autonomous agricultural path planning.

Abstract in Chinese

本文提出一种混合全覆盖路径规划算法（HCCPP），用于提升悬挂式割草机在凸多边形地块的作业效率与路径平滑性。该方法结合直入、嵌套与外螺旋策略，优化内部与边界区域覆盖，并采用混合A*与贝塞尔曲线实现平滑过渡。仿真实验表明，HCCPP在多种地块上实现覆盖率超99.7%，重复率低于5.4%，路径长度缩短4%-9%，曲率波动小，优于传统方法，为农机自主路径规划提供高效方案。