## 3 Results
### Test Results
#### 3.2.4 Hexagon-Shaped Field  
The geodetic coordinates of the hexagon-shaped field boundary points for the test were entered clockwise from the southwest corner. The lengths of the six-line segments of the outer boundary of the field are approximately 70 m, 24 m, 27 m, 16 m, 43 m, and 39 m, clockwise from the first input point, respectively, and the area is approximately 2371 m\({}^{2}\). Figure 13a shows the result of generating the inner boundary of the field with the outer boundary of the field. The length of the six-line segments of the generated inner boundary are approximately 64 m, 17 m, 26 m, 16 m, 37 m, and 33 m. The generated MBR of the internal boundary to generate candidate sets consisting of line segments within the MBR is shown in Figure 13b.  
The results of the generated working line segments in the inner-field boundary are shown in Figure 14a. A total of 50 working line segments in the inner-field boundary were generated in the west-east direction. The range of the lengths of the generated working line segments in the inner-field boundary is 17.4 m to 34.0 m, and the sum of the generated working line segments in the inner-field boundary is 1336.0 m. Figure 14b shows the results of the generated working line segments in the headland area. A total of six working line segments in the headland area were generated. The range of the length of the six-line segments of the generated working line segments in the headland area is 11.4 m to 62.2 m.  
Figure 11: Working line segments for the pentagon-shaped field: (**a**) working line segments in the inner-field boundary; (**b**) working line segments in the headland area.  
Figure 12: Waypoints for the pentagon-shaped field: external boundaries (black lines), internal boundaries (magenta line), autonomous driving path (blue lines), start waypoint (triangle), straight or turning waypoint (plus), work-starting waypoint (circle), work-ending waypoint (diamond), ending waypoint (star); (**a**) waypoints for ridge-forming work in the inner-field boundary; (**b**) waypoints for returning to the starting point; (**c**) waypoints for ridge-forming work in the headland area.  
The total area of the ridges created through the working line segments is 1815 m\({}^{2}\), so 77% of the field area is created as ridges.  
The results of generating waypoints using working line segments according to the autonomous driving scenarios are shown in Figure 15. Waypoints for autonomous ridge-forming in the inner field were generated sequentially along the working line segments of the inner field that are closest in distance, starting near the first outer-field boundary point, as shown in Figure 15a. The total number of generated waypoints is 199, including 1 starting waypoint, 98 turning waypoints, 50 work-starting waypoints, and 50 work-ending waypoints, and the total length is 8542.7 m. Figure 15b shows the results of the waypoints for returning to near the first outer-field boundary point. The waypoints were generated to reach near the first outer-field boundary point by the shortest distance within the headland area. The three waypoints consisted of one starting waypoint, one turning point, and one ending waypoint. Figure 15c shows the results of the waypoints for autonomous ridge-forming in the headland. The total number of generated waypoints is 19, including  
Figure 14: Working line segments for the hexagon-shaped field: (**a**) working line segments in the inner-field boundary; (**b**) working line segments in the headland area.  
Figure 13: External and internal boundaries and MBR for the hexagon-shaped field: (**a**) External and internal boundaries; (**b**) internal boundaries and MBR for internal boundaries.  
1 starting waypoint, 6 turning waypoints, 6 work-starting waypoints, and 6 work-ending waypoints, and the total length is 859.5 m.