A PATH PLANNER AND METHOD FOR PLANNING A PATH PLAN HAVING A SPIRAL COMPONENT

摘要

A method and path planner (10) for planning a path of a vehicle comprising aperimeter training module (14) for identifying a border of a region associatedwith a work area. A definer (26) for defining a reference row having areference path that tracks at least a majority of the border. A generator (30)generates tracking rows that track the reference row. The tracking rowscomprise at least one inner tracking row and an outer tracking row. Each innertracking row having at least one inner curve with a lesser radius than anouter tracking row having a corresponding outer curve with a greater radius.