A path planner and method for planning a path plan having a spriral component

摘要

A method and path planner (10) for planning a path of a vehicle comprising a perimetertraining module (14) for identifying a border of a region associated with a workarea. A definer (26) for defining a reference row having a reference path thattracks at least a majority of the border. A generator (30) generates trackingrows that track the reference row. The tracking rows comprise at least one innertracking row and an outer tracking row. Each inner tracking row having at leastone inner curve with a lesser radius than an outer tracking row having a correspondingouter curve with a greater radius.