Headland maneuvering is a crucial aspect of unmanned field operations for
autonomous agricultural vehicles (AAVs). While motion planning for headland
turning in open fields has been extensively studied and integrated into
commercial auto-guidance systems, the existing methods primarily address
scenarios with ample headland space and thus may not work in more constrained
headland geometries. Commercial orchards often contain narrow and irregularly
shaped headlands, which may include static obstacles,rendering the task of
planning a smooth and collision-free turning trajectory difficult. To address
this challenge, we propose an optimization-based motion planning algorithm for
headland turning under geometrical constraints imposed by field geometry and
obstacles