YardPilot

Perimeter .poly or .waypoints

Exclusion Zone(s) .waypoints

Lane Settings

Lane width Skip lanes Headland margin Exclusion buffer Transition tolerance Combine waypoints within Auto sweep angle

Sweep angle 0°

Perimeter Settings

Spiral mode Reverse spiral direction Perimeter passes Perimeter direction

Additional Settings

Target speed (m/s) Altitude (m) Circle segments

Map Layers

Satellite Labels

Brightness 75%

Units

YardPilot is an advanced coverage path planner designed to calculate optimized trajectories for autonomous lawnmowers/agricultural vehicles or survey applications.

1. Import Boundaries

Drag and drop a .poly or .waypoints file into the Perimeter drop zone to establish field boundaries.

If desired, drop another .waypoints file containing fence/exclusion boundaries into the Exclusion drop zone.

2. Planning Parameters

Lane Width: Distance between parallel passes (i.e., roughly mower deck width).
Skip Lanes: Skip-lane pattern to preserve turn radius between lanes. Set zero to disable.
Headland Margin: Safety margin/offset between the innermost perimeter pass (or the outer boundary if 0 perimeter passes are completed) and the sweep lanes. Negative values allow lanes to overlap the perimeter.
Exclusion Buffer: Safety margin maintained around exclusion zones.
Transition Tolerance: Increase to allow transitions/turns to overlap exclusion zones slightly. Larger values may reduce "spiky" paths, but can induce exclusion boundary breaches.
Auto Sweep Angle: Calculates the optimal sweep angle (heading orthogonal to generated lanes) to minimize turns. Disable to set a custom angle.
Circle Segments: Circular exclusion zones are approximated by this many polygon vertices. Lower values result in less waypoint crowding.
Spiral Mode: Replaces parallel boustrophedon lanes with a continuous, inward-shrinking spiral pattern.
Reverse Spiral Direction: Reverses the spiral winding direction (e.g., CW to CCW) after completing the initial perimeter passes.
Perimeter Passes: In standard mode, sets the number of concentric passes run around the boundary before the sweep begins. In spiral mode with reversal, defines the number of passes completed before the direction changes.

3. Trajectory & Stats

Click Generate Path to plan the coverage pattern. The cyan path represents the planned route, beginning with a green dot and ending with a red dot. Statistics are displayed in the map panel.

Click Export Waypoints to save a QGC-compliant .waypoints file directly to your device.

Field Path Statistics

Map Layers

Units

YardPilot Usage

1. Import Boundaries

2. Planning Parameters

3. Trajectory & Stats