Post date: Aug 20, 2008 10:47:57 PM
So contour following is relatively easy to accomplish, and despite all my efforts at developing a more sophisticated global algorithm to determine the direction the tractor should head everywhere on the field, I still encounter many situations where a decision as regards the next direction to travel in must be made. Anyway, I was thinking about what factors should be considered in this case, and I realized that I'd been forgetting something. And that is that the stupidest greediest way to achieve a complete coverage solution is to always head away from the goal until you covered the entire space and are forced to the goal. I'd pretty much forgotten about a goal position, instead opting to just plop the tractor down and let it runs its course until (ideally) the terrain is covered. But, now I'm thinking that a goal position might actually make things easier, allowing me to simply move away from the goal in the absence of a better deciding factor.