Fields2Benchmark: An open-source benchmark for coverage path planning methods in agriculture

IF 5.7 Q1 AGRICULTURAL ENGINEERING
Gonzalo Mier , Ana María Casado Faulí , João Valente , Sytze de Bruin
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引用次数: 0

Abstract

The agricultural coverage path planning problem focuses on optimizing coverage paths for agricultural operations. Despite its importance, existing agricultural coverage path planning solutions are highly application-specific, limiting their generalizability and reproducibility. Fields2Cover offers a modular open source software library for coverage path planning, yet it lacks built-in means to benchmark its algorithms and to configure the workflow to specific tasks. It also fails on non-convex fields and operations that require reload trips. This paper introduces Fields2Benchmark, an open-source, modular benchmark designed to standardize the evaluation of agricultural coverage path planning algorithms. Fields2Benchmark includes a dataset with 350 real-world fields, featuring non-convex fields and in-field obstacles. The benchmark decomposes the problem into five units, i.e., field decomposition, headland generation, swath generation, route planning, and path planning— allowing researchers to evaluate and compare algorithms modularly. Each module supports interchangeable algorithms and objective functions, enabling customization for diverse use cases. Fields2Benchmark extends the existing Fields2Cover library by allowing task-specific choices, adding a module that splits a field into simpler parts, introducing new algorithms to shorten routes and handle refill needs, and adding tools to compare algorithms in isolation. Outputs are recorded as structured numerical data and visual representations to facilitate detailed analysis. The capabilities of the benchmark were validated on three use cases concerning field arrangement and route and path planning with and without capacity constraints. Results demonstrate its ability to handle complex field geometries, compare algorithms effectively, and evaluate computational performance. Fields2Benchmark is computationally efficient, with planning times suitable for real-time applications. It is supported by publicly available datasets and code. By standardizing agricultural coverage path planning evaluation, Fields2Benchmark aims to improve the reproducibility in this field, accelerating the research in agricultural robotics and field operations. For industrial robots, this benchmark cuts deployment costs, and shortens time to market, by simplifying the development process.
Fields2Benchmark:农业覆盖路径规划方法的开源基准
农业覆盖路径规划问题的重点是优化农业经营覆盖路径。尽管它很重要,但现有的农业覆盖路径规划解决方案具有高度的应用特异性,限制了它们的通用性和可重复性。Fields2Cover为覆盖路径规划提供了一个模块化的开源软件库,但它缺乏内置的方法来对其算法进行基准测试,并将工作流配置为特定的任务。它在非凸字段和需要重载的操作上也会失败。本文介绍了Fields2Benchmark,这是一个开源的模块化基准,旨在规范农业覆盖路径规划算法的评估。Fields2Benchmark包括一个包含350个真实字段的数据集,具有非凸字段和场内障碍物。该基准将问题分解为五个单元,即场地分解、岬角生成、狭长带生成、路线规划和路径规划,允许研究人员模块化地评估和比较算法。每个模块都支持可互换的算法和目标函数,可以针对不同的用例进行定制。Fields2Benchmark扩展了现有的Fields2Cover库,允许特定于任务的选择,添加一个模块将字段分成更简单的部分,引入新的算法来缩短路由和处理填充需求,并添加工具来单独比较算法。输出记录为结构化数字数据和可视化表示,以方便详细分析。基准测试的功能在三个用例上进行了验证,这些用例涉及有和没有容量限制的现场安排、路线和路径规划。结果表明,它能够处理复杂的场几何形状,有效地比较算法,并评估计算性能。Fields2Benchmark计算效率高,规划时间适合实时应用程序。它由公开可用的数据集和代码支持。Fields2Benchmark旨在通过规范农业覆盖路径规划评估,提高该领域的可重复性,加速农业机器人和田间作业的研究。对于工业机器人来说,这一基准通过简化开发过程,降低了部署成本,缩短了上市时间。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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