Prevent traversals between non-adjacent passes that sometimes go through the field interior.
Problem
Traversals between non-adjacent passes sometimes go through the field interior.
Why does this happen?
The implement operation activity that is configured (e.g. mowing) was determined to be acceptable to traverse through the field interior when traveling between passes.
Solution
To change the mission's traversal type from staying "within_boundary" to "within_headland" set the advanced parameter "traversal_type: within_headland".
Note: The "within_boundary" isn’t guaranteed to be shorter than "within_headland". "within_boundary" simply checks all the possible dubins options and if one of them satisfies the within-boundary constraint, it’s chosen. The "within_boundary" parameter will only attempt the "along_boundary" maneuver if none of the dubins options satisfy the constraint. In the example above, the direct shortest dubins path clips the boundary, so "within_boundary" ends up using a really bad dubins option that is worse than the along boundary option.
How does this help?
Path-planner utilizes the field geometries, equipment parameters, and traversal type to determine how to traverse from one pass to another. By specifying the "traversal_type" advanced parameter, you override the defaults per activity type. The "within_headland" parameter will constrain traversals to stay within the headland and iterate to find a solution within the headland in case the traversal would otherwise go through the field interior.
Why shouldn’t I always use "traversal_type: within_headland?
Traversals that are configured to stay within the headland can unnecessarily add to the traversal time for activities that are acceptable to traverse through the field interior. The default adjusts according to the activity type. For cultivating standing row-crop, "along_boundary" is the default so that the tractor’s tires remain in between rows as much as possible.