The invention relates to a
full coverage motion path
planning method for
agricultural machinery, and relates to the technical field of path planning of unmanned
agricultural machinery. The method comprises the following steps: firstly, using a Boustrophedon
decomposition algorithm to divide a target farmland and obstacles into a plurality of adjacent areas, and assigning each area with a K value,wherein the K value indicates whether the area is covered or not, the K value is equal to 0 when the area is not covered, and the K value is equal to 1 when the area is covered; then, using a geneticalgorithm to find an optimal path covering all the areas; when an agricultural
machine performs a straight-line round-trip operation within the area, enabling the agricultural
machine to retrieve theK value while operating according to the planned
route, and if the K value is 0, operating according to the
route; if the K value is 1, moving to the next area; in order to avoid repetitive operationin the covered areas, introducing an A*
algorithm to find the optimal path along which the agricultural
machine can reach the next area, and so on until all the areas are fully covered. Compared withother technologies, the technology provided by the invention realizes higher ground coverage rate, and also increases the operation efficiency, reduces overlaps and omissions, and saves time and energy.