Coverage Path Planning with Constraints on Normal Curvature for a Three-dimensional Terrain with Obstacles

In precision agriculture, the problem of constructing covering paths often appears. It consists in planning some route for an agricultural machine that allows to process field without skipping. Nearly parallel paths are often used for this purpose. If a field is processed by a machine with front wheels steering, then the rear axle center should follow the trajectory with limited normal curvature. Threshold value of normal curvature is determined by the characteristics of the machine. In addition, we must take into account the location of obstacles in the field. In this paper the complete coverage path planning method based on convex optimization is proposed.