Tilling non-square areas on the fly

[alexanderjyuen]

One of the common functions of industrial vehicles is the coverage of an area that is defined by a non-square boundary. In order to accomplish this, we've modified various elements of Caladan resulting in the following sample run shown in the video below

tilling.mp4

As it can be seen, the generated trajectory tills the area with vertices from the selected points on the GUI. Please note that this is a preliminary example to demonstrate the flexibility of Caladan. Some improvements include forcing the the vehicle to turn away from the field instead of the into the field, including the ability to modify the direction of tilling, and the order in how we traverse the till.