  Within the context of optimising the logistics in agriculture this paper
relates to optimal in-field routing for full and partial field coverage with
arbitrary non-convex fields and multiple obstacle areas. It is distinguished
between nine different in-field routing tasks: two for full-field coverage,
seven for partial-field coverage and one for shortest path planning between any
two vertices of the transition graph. It differentiates between equal or
different start and end vertices for a task, coverage of only a subset of
vertices, and a subset of edges or combinations. The proposed methods are
developed primarily for applying sprays and fertilisers with larger operating
widths and with fields where there is unique headland path. Partial field
coverage where, e.g., only a specific subset of edges has to be covered is
relevant for precision agriculture and also for optimised logistical operation
of smaller-sized machinery with limited loading capacities. The result of this
research is the proposition of two compatible algorithms for optimal full and
partial field coverage path planning, respectively. These are evaluated on
three real-world fields to demonstrate their characteristics and computational
efficiency.
