The Complete Coverage Path Planning (CCPP) problem is a subfield of industrial motion planning that has applications in various domains, ranging from mobile robotics to treatment applications. Especially in precision agriculture with a high level of automation, the use of CCPP techniques is essential for efficient resource utilization, reduced soil compaction, and increased yields. This paper reviews the CCPP problem in the context of machines operating in agricultural fields and proposes a methodological approach consisting of three steps: Generating the Guidance Tracks (i.e., the track system along which the path should be oriented), determining the traversing sequence through these tracks, and planning a smooth and drivable path. This paper provides an in-depth review of optimization-based approaches that deal with the first step, the generation of the guidance track system. Thereby, a comprehensive and pedagogical approach for the generation of guidance tracks for arbitrarily shaped two-dimensional regions of interest is provided, along with an overview and detailed elaboration on different exact cellular decomposition techniques found in literature. Furthermore, cost functions are outlined for the different approaches presented in this work, which are utilized to generate optimal guidance tracks. Finally, this survey serves as an introductory guide for research and practitioners to solve the CCPP problem effectively and efficiently.

中文翻译：

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精准农业的最优引导轨迹生成：覆盖路径规划技术综述

完整覆盖路径规划 (CCPP) 问题是工业运动规划的一个子领域，在从移动机器人到治疗应用等各个领域都有应用。特别是在自动化水平较高的精准农业中，CCPP技术的使用对于高效利用资源、减少土壤板结、提高产量至关重要。本文回顾了农田中机器操作的 CCPP 问题，并提出了一种由三个步骤组成的方法：生成引导轨道（即路径应沿其定向的轨道系统），通过这些确定遍历顺序轨道，并规划一条平稳且可行驶的路径。本文深入回顾了基于优化的方法，该方法处理第一步，即生成引导轨道系统。因此，提供了一种用于为任意形状的二维感兴趣区域生成引导轨迹的综合教学方法，以及文献中发现的不同精确细胞分解技术的概述和详细阐述。此外，还概述了本工作中提出的不同方法的成本函数，这些方法用于生成最佳引导轨迹。最后，本次调查为研究人员和实践者有效解决 CCPP 问题提供了介绍性指南。