Erik Arvidsson, Anders Rowell, Linnea Hansson, Håkan Lideskog, Mikael Rönnqvist. (2026). Comparison of manual and automated coverage path planning for mechanized forest regeneration. Silva Fennica vol. 60 no. 1 article id 25018. https://doi.org/10.14214/sf.25018

Keywords: site preparation; planting; mechanization; automation; precision forestry; routing

Highlights: Automated coverage path planners TerraTrail and Pathfinder outperform manual operators driving the PlantMax planting machine in coverage across all test sites; Pathfinder demonstrated the shortest path lengths, especially in constrained environments, with up to 14% shorter paths compared to manual planning; The study emphasizes the potential of autonomous path planning systems to reduce labor dependency, enhance sustainability, and improve the efficiency of forest regeneration operations; The automated planners effectively accounted for vehicle constraints such as terrain and soil moisture conditions, optimizing routes for more efficient regeneration.

Abstract | Full text in HTML | Full text in PDF | Author Info

In Finland and Scandinavia, even-aged forest management predominates, often including mechanical site preparation and manual planting. Growing labor shortages and increased demand for sustainability have driven interest in mechanized and autonomous planting systems. This study evaluates two automated Coverage Path Planners (CPP), Pathfinder and TerraTrail, developed to optimize planting routes for mechanized forest regeneration. Their performance is compared to the routes of the manually operated mechanized planting machine, PlantMax. Three operational sites in Sweden, representing varied terrain and hydrological conditions are evaluated. The evaluation focuses on coverage, Euclidean and Dubins path lengths. Both CPPs incorporate Digital Elevation Models (DEM), Depth-to-Water (DTW) maps and vehicle-specific kinematics to generate planting routes. Two scenarios are evaluated: one where the CPPs neglect the DTW map, and another where the CPPs are constrained to avoid DTW values below 0.3 m. Results show that automated CPPs achieve 15–19% higher coverage than manual planning on average. Pathfinder showed similar normalized path lengths in an unconstrained scenario as the manual operator, but 14% shorter in the constrained environment. TerraTrail shows 7% longer normalized path lengths in an unconstrained scenario, while the constrained scenario shows similar path lengths as the manual operator. These findings emphasize the potential of deploying automated CPP systems to enhance precision, sustainability, and labor efficiency of silvicultural operations. The CPPs support both autonomous deployment and decision support tool for operators. Further refinement, including combining both CPPs to leverage the best functions of each, along with reversible path planning, could enhance their value in forestry practices.

Arvidsson, Luleå University of Technology (LTU), SE-971 87 Luleå, Sweden https://orcid.org/0000-0001-7679-0203 E-mail: erik.arvidsson@ltu.se
Rowell, Forestry Research Institute of Sweden (Skogforsk), Uppsala Science Park, SE-751 83 Uppsala, Sweden https://orcid.org/0009-0000-2810-1434 E-mail: anders.rowell@skogforsk.se
Hansson, Forestry Research Institute of Sweden (Skogforsk), Uppsala Science Park, SE-751 83 Uppsala, Sweden https://orcid.org/0000-0002-9788-1734 E-mail: linnea.hansson@skogforsk.se
Lideskog, Luleå University of Technology (LTU), SE-971 87 Luleå, Sweden https://orcid.org/0000-0002-9862-828X E-mail: hakan.lideskog@ltu.se
Rönnqvist, Université Laval, 1065, avenue de la Médecine, Local 1504, Québec G1V 0A6, Canada https://orcid.org/0000-0002-1940-6129 E-mail: mikael.ronnqvist@gmc.ulaval.ca

article id 1386, category Research article

Håkan Lideskog, Magnus Karlberg. (2016). Simulated continuous mounding improvements through ideal machine vision and control. Silva Fennica vol. 50 no. 2 article id 1386. https://doi.org/10.14214/sf.1386

Keywords: site preparation; silviculture; remote sensing; scarification; clearcut obstacles; mounding simulation; work procedures

Highlights: Different strategies for how to utilise machine vision to streamline the mounding head movements were developed and evaluated; The theoretical minimum rate of encountered obstacles while utilising machine vision in continuous mounding is presented, provided that an optimal continuous mounding has been performed; The needed minimum resolution of a machine vision system at work on a clearcut area was found.

Abstract | Full text in HTML | Full text in PDF | Author Info

To promote the growth and survival of regenerated forests, site preparation prior to tree planting on clearcuts is necessary. This is often performed with scarifiers, either through trenching or mounding. Mounding is generally considered better in a plant survival perspective but is inefficient on obstacle-rich clearcuts. By utilising machine vision through e.g. remote sensing methods, new strategies can enable efficient mound positioning. In this paper, three realistic strategies utilizing ideal clearcut object identification through machine vision have been developed that can be used for more efficient mounding. The results show that mounding efficiency can be significantly improved with a new mound positioning strategy that employs ideal object identification, especially on obstacle-rich clearcuts.

Lideskog, Luleå University of Technology, Department of Engineering Sciences and Mathematics, Division of Product and Production Development, SE-971 87 Luleå, Sweden E-mail: hakan.lideskog@ltu.se
Karlberg, Luleå University of Technology, Department of Engineering Sciences and Mathematics, Division of Product and Production Development, SE-971 87 Luleå, Sweden E-mail: magnus.karlberg@ltu.se

Category : Research note

article id 1136, category Research note

Håkan Lideskog, Back Tomas Ersson, Urban Bergsten, Magnus Karlberg. (2014). Determining boreal clearcut object properties and characteristics for identification purposes. Silva Fennica vol. 48 no. 3 article id 1136. https://doi.org/10.14214/sf.1136

Keywords: forestry; forest regeneration; clearcut obstacles; terrain description; terrain conditions; site properties

Highlights: We define the quantitative properties and qualitative characteristics of stumps, stones, slash, and roots, the most important objects interacting with machine activities after clearcutting; We develop a flowchart showing how a computer-aided system using clearcut object identification should be executed.

Abstract | Full text in HTML | Full text in PDF | Author Info

After clearcutting, machines traffic the clearcut conducting different silvicultural activities. Many objects on a forest clearcut (slash residues, stones, stumps and roots) may disturb e.g. site preparation and planting. This paper describes properties and characteristics of these objects. A flowchart was developed that describes a possible computer-aided system that identifies the objects, and ultimately, makes a machine avoid or target them. A system for obstacle identification creates conditions for further technical development and (semi)automation of e.g., site preparation, mechanized planting, and stump removal.

Lideskog, Division of Product and Production Development, Luleå University of Technology, SE-97187 Luleå, Sweden E-mail: hakan.lideskog@ltu.se
Ersson, Department of Forest Biomaterials and Technology, SLU, SE-90183 Umeå, Sweden E-mail: back.tomas.ersson@slu.se
Bergsten, Department of Forest Biomaterials and Technology, SLU, SE-90183 Umeå, Sweden E-mail: urban.bergsten@slu.se
Karlberg, Division of Product and Production Development, Luleå University of Technology, SE-97187 Luleå, Sweden E-mail: magnus.karlberg@ltu.se

Click this link to register to Silva Fennica.

If you are a registered user, log in to save your selected articles for later access.

Contents alert

Your selected articles

Follow @SilvaFennica