PATH PLANNING FOR AN AGRICULTURAL FIELD BASED ON END OF SWATH DETECTION

A method for path planning for an agricultural field (1) having rows (3 to 8) contains steps for moving a sensor unit (26) having a limited sensing range (27) in the agricultural field (1) for detecting rows (3 to 8), detecting first ends (14 to 17) of rows (3 to 6) located at a first edge (10) of the agricultural field (1), detecting second ends (19 to 21) of rows (3, 5, 8) located at a second edge (11) of the agricultural field (1), determining first path segments (28 to 31) each matching with a first end (14 to 17) and determining second path segments (34, 35, 36) each matching with a second end (19 to 21), and a vehicle (23) with a control unit (52) configured to carry out the method.