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Headland maneuvering is a crucial aspect of unmanned field operations forautonomous agricultural vehicles (AAVs). While motion planning for headlandturning in open fields has been extensively studied and integrated intocommercial auto-guidance systems, the existing methods primarily addressscenarios with ample headland space and thus may not work in more constrainedheadland geometries. Commercial orchards often contain narrow and irregularlyshaped headlands, which may include static obstacles,rendering the task ofplanning a smooth and collision-free turning trajectory difficult. To addressthis challenge, we propose an optimization-based motion planning algorithm forheadland turning under geometrical constraints imposed by field geometry andobstacles.

Optimization-Based Motion Planning for Autonomous Agricultural Vehicles Turning in Constrained Headlands