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This paper proposes a complete coverage path planning algorithm suitable for multiple agricultural unmanned ground vehicle (UGV). In terms of various operation constraints, the Dubins curve is introduced to achieve the turning at the boundary of the agricultural plot and the obstacles are avoided by combining the shortest circular arc tangent and the path detour splitting method; in terms of the traversal sequence of the UGV, the Greedy-GED algorithm is used to generate the optimal crop row and solve the optimal coverage traversal sequence, and the algorithm BC-TSP, which integrates sub-region division and the traveling salesman problem, is adopted to complete the multi-UGV coverage path planning. Experiments show that the average coverage rate of the path obtained by this algorithm is above 97.92%, indicating that the algorithm performs well in complex farmland.

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A Multi-UGV Coverage Path Planning Algorithm for Mechanical Operations in Farmland

  • 会议论文

  • 发表日期：

    2026年

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  • Lingrui Zhang,
  • Xiangbao Meng,
  • Beizhang Chen,
  • Jian Yang

摘要

This paper proposes a complete coverage path planning algorithm suitable for multiple agricultural unmanned ground vehicle (UGV). In terms of various operation constraints, the Dubins curve is introduced to achieve the turning at the boundary of the agricultural plot and the obstacles are avoided by combining the shortest circular arc tangent and the path detour splitting method; in terms of the traversal sequence of the UGV, the Greedy-GED algorithm is used to generate the optimal crop row and solve the optimal coverage traversal sequence, and the algorithm BC-TSP, which integrates sub-region division and the traveling salesman problem, is adopted to complete the multi-UGV coverage path planning. Experiments show that the average coverage rate of the path obtained by this algorithm is above 97.92%, indicating that the algorithm performs well in complex farmland.