{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,25]],"date-time":"2026-05-25T17:06:15Z","timestamp":1779728775251,"version":"3.53.1"},"reference-count":31,"publisher":"Elsevier BV","license":[{"start":{"date-parts":[[2026,7,1]],"date-time":"2026-07-01T00:00:00Z","timestamp":1782864000000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.elsevier.com\/tdm\/userlicense\/1.0\/"},{"start":{"date-parts":[[2026,7,1]],"date-time":"2026-07-01T00:00:00Z","timestamp":1782864000000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.elsevier.com\/legal\/tdmrep-license"},{"start":{"date-parts":[[2026,7,1]],"date-time":"2026-07-01T00:00:00Z","timestamp":1782864000000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-017"},{"start":{"date-parts":[[2026,7,1]],"date-time":"2026-07-01T00:00:00Z","timestamp":1782864000000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-037"},{"start":{"date-parts":[[2026,7,1]],"date-time":"2026-07-01T00:00:00Z","timestamp":1782864000000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-012"},{"start":{"date-parts":[[2026,7,1]],"date-time":"2026-07-01T00:00:00Z","timestamp":1782864000000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-029"},{"start":{"date-parts":[[2026,7,1]],"date-time":"2026-07-01T00:00:00Z","timestamp":1782864000000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-004"}],"content-domain":{"domain":["elsevier.com","sciencedirect.com"],"crossmark-restriction":true},"short-container-title":["Computers and Electronics in Agriculture"],"published-print":{"date-parts":[[2026,7]]},"DOI":"10.1016\/j.compag.2026.111779","type":"journal-article","created":{"date-parts":[[2026,4,19]],"date-time":"2026-04-19T19:14:06Z","timestamp":1776626046000},"page":"111779","update-policy":"https:\/\/doi.org\/10.1016\/elsevier_cm_policy","source":"Crossref","is-referenced-by-count":0,"special_numbering":"C","title":["Key-waypoint-guided global coverage path planning system for unmanned ground vehicles in orchards"],"prefix":"10.1016","volume":"248","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-6771-8856","authenticated-orcid":false,"given":"Yifeng","family":"Zheng","sequence":"first","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Jun","family":"Zhou","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Pengyuan","family":"Zheng","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Jingwei","family":"Sun","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Syed Tabinda","family":"Naz","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Yundong","family":"Wang","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"78","reference":[{"key":"10.1016\/j.compag.2026.111779_b0005","doi-asserted-by":"crossref","DOI":"10.1016\/j.compag.2022.107584","article-title":"Vision-based navigation and guidance for agricultural autonomous vehicles and robots: a review","volume":"205","author":"Bai","year":"2023","journal-title":"Comput. Electron. Agric."},{"key":"10.1016\/j.compag.2026.111779_b0010","first-page":"1","article-title":"Path Planning Method for Inter-row shuttle in Densely Planted Orchards","author":"Bi","year":"2024","journal-title":"Transactions of the Chinese Society for Agricultural Machinery"},{"key":"10.1016\/j.compag.2026.111779_b0015","doi-asserted-by":"crossref","DOI":"10.1016\/j.biosystemseng.2013.04.006","article-title":"Benefits from optimal route planning based on B-patterns","volume":"115","author":"Bochtis","year":"2013","journal-title":"Biosyst. Eng."},{"key":"10.1016\/j.compag.2026.111779_b0020","doi-asserted-by":"crossref","first-page":"51","DOI":"10.1016\/j.compag.2014.12.024","article-title":"Route planning for orchard operations","volume":"113","author":"Bochtis","year":"2015","journal-title":"Comput. Electron. Agric."},{"key":"10.1016\/j.compag.2026.111779_b0025","doi-asserted-by":"crossref","DOI":"10.1016\/j.compag.2024.109889","article-title":"Environmental mapping and path planning for robots in orchard based on traversability analysis, improved LeGO-LOAM and RRT* algorithms","volume":"230","author":"Cao","year":"2025","journal-title":"Comput. Electron. Agric."},{"key":"10.1016\/j.compag.2026.111779_b0030","unstructured":"Cerrato, Simone, Vittorio Mazzia, Francesco Salvetti, Mauro Martini, Simone Angarano, Alessandro Navone, and Marcello Chiaberge. 2021. 'A Deep Learning Driven Algorithmic Pipeline for Autonomous Navigation in Row-Based Crops', Ieee Access."},{"key":"10.1016\/j.compag.2026.111779_b0035","doi-asserted-by":"crossref","DOI":"10.3390\/electronics13112057","article-title":"Optimizing Mobile Robot Navigation based on A-Star Algorithm for Obstacle Avoidance in Smart Agriculture","volume":"13","author":"Chatzisavvas","year":"2024","journal-title":"Electronics"},{"key":"10.1016\/j.compag.2026.111779_b0040","doi-asserted-by":"crossref","first-page":"113","DOI":"10.1504\/IJAHUC.2022.121116","article-title":"Real-time road object segmentation using improved light-weight convolutional neural network based on 3D LiDAR point cloud","volume":"39","author":"Chen","year":"2022","journal-title":"Int. J. Ad Hoc Ubiquitous Comput."},{"key":"10.1016\/j.compag.2026.111779_b0045","first-page":"151","article-title":"Global Path Planning for Kiwifruit Harvesting Robot based on improved RRT Algorithm","volume":"53","author":"Cui","year":"2022","journal-title":"Transactions of the Chinese Society for Agricultural Machinery"},{"key":"10.1016\/j.compag.2026.111779_b0050","first-page":"1","article-title":"Research Progress on Autonomous Navigation Technology for Orchard Intelligent Equipment","volume":"55","author":"Dou","year":"2024","journal-title":"Transactions of the Chinese Society for Agricultural Machinery"},{"key":"10.1016\/j.compag.2026.111779_b0055","doi-asserted-by":"crossref","DOI":"10.1016\/j.compag.2024.109596","article-title":"Path planning of greenhouse electric crawler tractor based on the improved a* and DWA algorithms","volume":"227","author":"Guo","year":"2024","journal-title":"Comput. Electron. Agric."},{"key":"10.1016\/j.compag.2026.111779_b0060","doi-asserted-by":"crossref","DOI":"10.1016\/j.compag.2024.109696","article-title":"Path planning and tracking control of orchard wheel mower based on BL-ACO and GO-SMC","volume":"228","author":"Liu","year":"2025","journal-title":"Comput. Electron. Agric."},{"key":"10.1016\/j.compag.2026.111779_b0065","doi-asserted-by":"crossref","first-page":"23","DOI":"10.1016\/j.compag.2023.108489","article-title":"Overall integrated navigation based on satellite and lidar in the standardized tall spindle apple orchards","volume":"216","author":"Liu","year":"2024","journal-title":"Comput. Electron. Agric."},{"key":"10.1016\/j.compag.2026.111779_b0070","first-page":"323","article-title":"Path Planning of Orchard Spray Robot based on improved a* and DWA Algorithm","volume":"59","author":"Lu","year":"2023","journal-title":"Comput. Eng. Appl."},{"key":"10.1016\/j.compag.2026.111779_b0075","doi-asserted-by":"crossref","DOI":"10.1016\/j.compag.2021.106091","article-title":"DeepWay: a Deep Learning waypoint estimator for global path generation","volume":"184","author":"Mazzia","year":"2021","journal-title":"Comput. Electron. Agric."},{"key":"10.1016\/j.compag.2026.111779_b0080","doi-asserted-by":"crossref","first-page":"2166","DOI":"10.1109\/LRA.2023.3248439","article-title":"Fields2Cover: an Open-Source Coverage Path Planning Library for Unmanned Agricultural Vehicles","volume":"8","author":"Mier","year":"2023","journal-title":"IEEE Rob. Autom. Lett."},{"key":"10.1016\/j.compag.2026.111779_b0085","first-page":"23","article-title":"Fruit Sizing in Orchard: a Review from Caliper to Machine Vision with Deep Learning","volume":"14248220","author":"Neupane","year":"2023","journal-title":"Sensors"},{"key":"10.1016\/j.compag.2026.111779_b0090","doi-asserted-by":"crossref","first-page":"1984","DOI":"10.1002\/rob.22374","article-title":"Optimization-based motion planning for autonomous agricultural vehicles turning in constrained headlands","volume":"41","author":"Peng","year":"2024","journal-title":"J. Field Rob."},{"key":"10.1016\/j.compag.2026.111779_b0095","doi-asserted-by":"crossref","DOI":"10.1016\/j.compag.2023.107628","article-title":"A review of the large-scale application of autonomous mobility of agricultural platform","volume":"206","author":"Ren","year":"2023","journal-title":"Comput. Electron. Agric."},{"key":"10.1016\/j.compag.2026.111779_b0100","doi-asserted-by":"crossref","DOI":"10.1016\/j.compag.2024.109839","article-title":"Smart vineyard row navigation: a machine vision approach leveraging YOLOv8","volume":"229","author":"Saha","year":"2025","journal-title":"Comput. Electron. Agric."},{"key":"10.1016\/j.compag.2026.111779_b0105","first-page":"56","article-title":"Orchard Spray Robot Planning AlgorithmBased0nMultiple Constraints","volume":"54","author":"Shen","year":"2023","journal-title":"Transactions of the Chinese Society for Agricultural Machinery"},{"key":"10.1016\/j.compag.2026.111779_b0110","doi-asserted-by":"crossref","DOI":"10.1016\/j.compag.2022.107222","article-title":"Semantic segmentation and path planning for orchards based on UAV images","volume":"200","author":"Sun","year":"2022","journal-title":"Comput. Electron. Agric."},{"key":"10.1016\/j.compag.2026.111779_b0115","doi-asserted-by":"crossref","DOI":"10.1016\/j.compag.2022.107085","article-title":"Applications of machine vision in agricultural robot navigation: a review","volume":"198","author":"Wang","year":"2022","journal-title":"Comput. Electron. Agric."},{"key":"10.1016\/j.compag.2026.111779_b0120","article-title":"Coverage path planning for kiwifruit picking robots based on deep reinforcement learning","author":"Wang","year":"2023","journal-title":"Comput. Electron. Agric."},{"key":"10.1016\/j.compag.2026.111779_b0125","article-title":"' Visual Navigation Path Extraction Algorithm inOrchard under complex Background', transactions of the Chinese Society for Agricultural","volume":"54","author":"Xiao","year":"2023","journal-title":"Machinery"},{"key":"10.1016\/j.compag.2026.111779_b0130","doi-asserted-by":"crossref","unstructured":"Xie, Binbin, Yucheng Jin, Muhammad Faheem, Wenjie Gao, Jizhan Liu, Houkang Jiang, Lianjiang Cai, and Yuanxiang Li. 2023. 'Research progress of autonomous navigation technology for multi-agricultural scenes', Computers and Electronics in Agriculture, 211.","DOI":"10.1016\/j.compag.2023.107963"},{"key":"10.1016\/j.compag.2026.111779_b0135","article-title":"Real-Time LiDAR Point-Cloud moving Object Segmentation for Autonomous Driving","volume":"23","author":"Xie","year":"2023","journal-title":"Sensors"},{"key":"10.1016\/j.compag.2026.111779_b0140","doi-asserted-by":"crossref","unstructured":"Zhang, Y., X. Y. Miao, Y. F. Sun, Z. P. He, T. W. Hou, Z. H. Wang, and Q. Y. Wang. 2025. 'Multi-Strategy Fusion RRT-Based Algorithm for Optimizing Path Planning in Continuous Cherry Picking', Agriculture-Basel, 15.","DOI":"10.3390\/agriculture15151699"},{"key":"10.1016\/j.compag.2026.111779_b0145","doi-asserted-by":"crossref","DOI":"10.1016\/j.compag.2020.105959","article-title":"Hardness recognition of fruits and vegetables based on tactile array information of manipulator","volume":"181","author":"Zhang","year":"2021","journal-title":"Comput. Electron. Agric."},{"key":"10.1016\/j.compag.2026.111779_b0150","first-page":"1","article-title":"Path Planning for Orchard Wheeled Robots based on improved A-Star and LM-BZS Algorithms","author":"Zhang","year":"2024","journal-title":"Transactions of the Chinese Society for Agricultural Machinery"},{"key":"10.1016\/j.compag.2026.111779_b0155","first-page":"1","article-title":"Research Progress on Navigation Path Planning for Agricultural Machinery","volume":"52","author":"Zhou","year":"2021","journal-title":"Transactions of the Chinese Society for Agricultural Machinery"}],"container-title":["Computers and Electronics in Agriculture"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/api.elsevier.com\/content\/article\/PII:S0168169926003741?httpAccept=text\/xml","content-type":"text\/xml","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/api.elsevier.com\/content\/article\/PII:S0168169926003741?httpAccept=text\/plain","content-type":"text\/plain","content-version":"vor","intended-application":"text-mining"}],"deposited":{"date-parts":[[2026,5,25]],"date-time":"2026-05-25T16:52:18Z","timestamp":1779727938000},"score":1,"resource":{"primary":{"URL":"https:\/\/linkinghub.elsevier.com\/retrieve\/pii\/S0168169926003741"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2026,7]]},"references-count":31,"alternative-id":["S0168169926003741"],"URL":"https:\/\/doi.org\/10.1016\/j.compag.2026.111779","relation":{},"ISSN":["0168-1699"],"issn-type":[{"value":"0168-1699","type":"print"}],"subject":[],"published":{"date-parts":[[2026,7]]},"assertion":[{"value":"Elsevier","name":"publisher","label":"This article is maintained by"},{"value":"Key-waypoint-guided global coverage path planning system for unmanned ground vehicles in orchards","name":"articletitle","label":"Article Title"},{"value":"Computers and Electronics in Agriculture","name":"journaltitle","label":"Journal Title"},{"value":"https:\/\/doi.org\/10.1016\/j.compag.2026.111779","name":"articlelink","label":"CrossRef DOI link to publisher maintained version"},{"value":"article","name":"content_type","label":"Content Type"},{"value":"\u00a9 2026 Elsevier B.V. All rights are reserved, including those for text and data mining, AI training, and similar technologies.","name":"copyright","label":"Copyright"}],"article-number":"111779"}}