3K method: time-optimal path planning for field robot

In this study, a hybrid genetic-geometrical path finding method is presented. Its main feature is the division of the path-finding process into global and local path-finding to achieve a trajectory optimized under the shortest travel time condition in an environment filled with obstacles. To improve the reliability of the algorithm, a safety zone around obstacles is included. In this zone, the maximum velocity allowed for a robot is additionally limited to decrease the probability of collision due to noise in obstacle mapping, distraction from terrain irregularities or malfunction of the steering system. The simulation and real world experiment results are presented in another paper.