Simulation Study on Coverage Path Planning of Autonomous Tasks in Hilly Farmland Based on Energy Consumption Model

Table 3

Simulation result data of each field in Farmland A.

	In terms of energy cost			In terms of path cost			Energy consumption reduction ratio (J) (%)
	Optimal driving angle ()	Energy costs ()	Path cost (m)	Optimal driving angle ()	Energy costs ()	Path cost (m)
Field 1	0	211208.72	2111.91	216	265092.27	1903.61
Field 2	176	552092.34	5483.79	352	558791.62	5433.21
Field 3	168	241864.92	2201.58	168	241864.92	2201.58	0
Field 4	360	440022.27	3917.41	216	552131.55	3265.85	−20.30
Field 5	184	490368.71	4695.80	160	499871.64	4578.61	−1.90
Field 6	352	867792.54	7798.57	160	905554.51	7511.14	−4.17
Field 7	352	446102.06	4092.76	160	468794.63	3797.19	−3.56
Field 8	352	938876.59	8154.10	232	1631810.04	7145.43	−42.46
Field 9	168	583569.02	4707.71	208	918131.92	4677.94	−36.44
Total		4771897.17	43163.63		5776950.83	40514.56	−17.40