## 1 Introduction  
China has been a large agricultural country since ancient times, and the existing arable land area in China is about 1.914 billion mu (note:'mu' is a traditional Chinese unit of area, approximately equal to 0.0667 hectares). Of this, arable land area with more than two grades of slope accounts for about 38% and is mainly distributed in the hilly areas of China. Compared with the plains, the construction of high-standard farmland in hilly and mountainous areas faces more difficulties, such as the diversity of topography, complex engineering design, high construction cost per mu, small field sizes, difficult access, and low efficiency of field operations, among others. These problems have caused the development of agricultural mechanization and automation in hilly and mountainous areas to lag behind. Therefore, the development of mechanization and automation for hilly and mountainous farmland has become a top priority [1]. In response to these problems, researchers have continuously explored effective ways to mechanize agriculture in hilly and mountainous areas. In the early days, they mainly researched small agricultural machines to adapt to the finely sloping cultivation environment; later, they modified the cultivation environment to adapt to a wider range of agricultural machines. [PERSON] [2] conducted an overrun stability analysis of agricultural machinery traveling on sloping farmland and a lateral stability study using an anti-tipping tractor with a changing center of mass position. [PERSON] [3] investigated the effects of rear wheelbases and applied counterweights on the stability of wheeled tractors traveling on slopes using a specially designed test platform. [PERSON] [4] analyzed and researched the design of the key mechanisms of the tracked walking device, the determination of parameters, and other issues in view of the complex and variable characteristics of the actual working environment of agricultural machinery. [PERSON] [5] and others designed a mountain orchard remote-controlled monorail transporter that can carry a weight of 300 kg in operations on ramps of up to 38\({}^{\circ}\). [PERSON] [6] and others designed an omni-directional mobile crawler platform that can run smoothly on a 32\({}^{\circ}\) slope. It can be seen that Europe, the United States, and other developed countries started earlier in the development of agricultural mechanization in hilly and mountainous areas and are in a leading position in this regard [7]; China started later in this field but has still made considerable achievements. Intelligent agricultural machinery represents an inevitable trend in the development of agricultural machinery. Given the current situation where the contradiction between limited resources and a growing population is becoming increasingly prominent, the realization of intelligent agricultural machinery can make a significant contribution to increasing crop production and reducing the burden on farmers, thereby enhancing their income [8]. Path planning, as the core technology of intelligent agricultural machinery, is crucial for improving the operational efficiency of such machinery [9]. Path planning is primarily divided into point-to-point path planning and full-coverage path planning. Full-coverage path planning is defined as an algorithm that provides a path for the executor to ensure that it traverses all points in the operation area while avoiding obstacles in the map [10]. Most agricultural machinery operations require coverage of arable land to complete tasks such as harvesting, plowing, sowing, and fertilizing. Therefore, full-coverage path planning technology has been widely adopted in the automation of agricultural machinery. Compared to the traditional subjective judgment of the driver's operation, full-coverage operation can help reduce the rate of path repetition during operations, improve the efficiency and quality of agricultural machinery operations, and decrease energy consumption [11].