A system and a method for determining a trajectory to be followed by an agricultural work vehicle

A support system for determining a trajectory to be followed by an agricultural work vehicle, when working a field, said system comprises:

• a mapping unit configured for receiving:
• i) coordinates relating to the boundaries of a field to be worked;
• and
• ii) coordinates relating to the boundaries of one or more obstacles to be avoided by said work vehicle;
• wherein said one or more obstacles being located within said field;
• a capacity parameter unit configured for receiving one or more capacity parameters relating to said working vehicle;
• a trajectory calculating unit configured for calculating an optimized trajectory to be followed by said work vehicle;
• wherein said optimized trajectory is being calculated on the basis of said coordinates received by said mapping unit;
• and
• one or more of said one or more capacity parameters received by said capacity parameter unit;
• wherein said trajectory calculating unit is being configured to perform the following steps:
• a) approximating the coordinates relating to the boundaries of said field to be worked to a boundary polygon;
• and wherein said support system is being configured to determine the trajectory to be followed, based on that approximation;
• b) approximating the coordinates relating to the boundaries of each said one or more obstacles, to respective obstacle polygons;
• and wherein said support system is being configured to determine the trajectory to be followed, based on that approximation;
• c) defining one or more headlands located immediately within said boundary polygon;
• d) in respect of each obstacle polygon, defining one or more headlands surrounding said obstacle polygon;
• e) defining a work area which corresponds to the area within said boundary polygon with the exclusion of the area corresponding to any headlands and with the exclusion of the area corresponding to any obstacle polygon;
• f) in respect of the orientation of one or more sides of headlands, define an array of parallel working rows located within said work area;
• g) in respect of one or more arrays of parallel working rows defined in step f), define an array of possible continuous driving paths by connecting separate entities, wherein said separate entities is being either headlands, or parts of a headland, and working rows, or parts of a working row;
• so as to define possible continuous driving paths, wherein each driving path is covering all headlands and all working rows;
• h) in respect of each of more possible continuous driving paths defined in step g), calculate an associated cost parameter, said calculated cost parameter being representative of the efficiency by following that specific continuous driving path;
• i) select as the trajectory to be followed, that specific continuous driving path exhibiting the highest efficiency . efficiency.