YardPilot

Perimeter .poly or .waypoints

Exclusion Zone(s) .waypoints

Lane Settings

Lane width Skip lanes Exclusion buffer Transition tolerance Auto sweep angle

Sweep angle 0°

Perimeter Settings

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).
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.
Skip Lanes: Skip-lane pattern to preserve turn radius between lanes. Set zero to disable.
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.

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