Patent ID: 11914379
Assignee: DEERE & COMPANY
Field: Control (Instruments)
Classification: CPC A  G  B | IPC G

Claim 0:
1. An apparatus comprising:
at least one memory;
machine-readable instructions in the apparatus; and
processor circuitry to at least one of execute or instantiate the machine-readable instructions to at least:
generate a headland path having a first path portion, a second path portion, and an adjusted turn path connecting the first path portion to the second path portion, wherein an area between the headland path and a field boundary defines an untended portion of a field, and wherein the headland path further defines a tended portion of the field, the adjusted turn path determined based on a first extension coverage path and a second extension coverage path, the first extension coverage path being an extension of the first path portion into the untended portion, the second extension coverage path being an extension of the second path portion into the untended portion;
generate a first path plan for the tended portion, the first path plan including first coverage paths, the first coverage paths generated using a first degree heading;
generate a second path plan for the tended portion, the second path plan including second coverage paths, the second coverage paths generated using a second degree heading;
determine a first cost of the first path plan and a second cost of the second path plan, the first cost and the second cost based on a number of turns and a turn length;
select one of the first path plan or the second path plan based on a comparison of the first cost to the second cost; and
cause a vehicle to traverse the field based on the one of the first path plan or the second path plan.