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Within the context of in-field path planning this paper discusses freeformpath fitting for the minimisation of the number of transitions between headlandpath and interior lanes within agricultural fields. This topic is motivated bytwo observations. Due to crossings of tyre traces such transitions in practiceoften cause an increase of compacted area. Furthermore, for very tight anglesbetween headland path and interior lanes undesired hairpin turns may becomenecessary due to the limited agility of in-field operating tractors. Byminimising the number of interior lanes both detrimental effects can bemitigated. The potential of minimising the number of interior lanes by freeformpath fitting is evaluated on 10 non-convex real-world fields including obstacleareas, and compared to the more common technique of fitting straight interiorlanes.

Freeform Path Fitting for the Minimisation of the Number of Transitions between Headland Path and Interior Lanes within Agricultural Fields