diff --git a/scripts/courseGenerator/Field.lua b/scripts/courseGenerator/Field.lua
index f59ddbbf6..3b9902ca5 100644
--- a/scripts/courseGenerator/Field.lua
+++ b/scripts/courseGenerator/Field.lua
@@ -6,7 +6,7 @@ CourseGenerator.Field = Field
 
 ---@param id string unique ID for this field for logging
 ---@param num number field number as shown in game
----@param boundary Polygon|nil boundary of the field
+---@param boundary [{x, y}]|nil boundary of the field
 function Field:init(id, num, boundary)
     self.id = id
     self.num = num
@@ -17,6 +17,7 @@ function Field:init(id, num, boundary)
     self.islands = {}
     if boundary then
         self.boundary:calculateProperties()
+        self:_smoothBoundary()
     end
 end
 
@@ -66,10 +67,18 @@ function Field.loadSavedFields(fileName)
     for _, f in pairs(fields) do
         f:getBoundary():calculateProperties()
         f:setupIslands()
+        f:_smoothBoundary()
     end
     return fields
 end
 
+--- Smooth out zigzags in the boundary. Zigzags are created when the FieldScanner is running at high resolution
+--- bigger than the game field pixel size
+function Field:_smoothBoundary()
+    CourseGenerator.SplineHelper.smooth(self:getBoundary(), 2, 1, #self:getBoundary(), math.rad(5), math.rad(45))
+    self:getBoundary():ensureMinimumEdgeLength(CourseGenerator.cMaxEdgeLength, math.rad(30))
+end
+
 --- Center of the field (centroid)
 ---@return Vector
 function Field:getCenter()
diff --git a/scripts/courseGenerator/FieldworkCourseMultiVehicle.lua b/scripts/courseGenerator/FieldworkCourseMultiVehicle.lua
index 54548486e..41635a02d 100644
--- a/scripts/courseGenerator/FieldworkCourseMultiVehicle.lua
+++ b/scripts/courseGenerator/FieldworkCourseMultiVehicle.lua
@@ -402,8 +402,11 @@ function FieldworkCourseMultiVehicle:_offsetConnectingPath(path, ix, offsetVecto
         section:append(path[i])
         i = i + 1
     until i > #path or not path[i]:getAttributes():isOnConnectingPath()
-    local offsetConnectingPath = _generateOffsetSection(section, offsetVector)
-    _appendOffsetSection(section, offsetConnectingPath, offsetPath)
+    if #section > 1 then
+        -- connecting paths with a single vertex can be ignored
+        local offsetConnectingPath = _generateOffsetSection(section, offsetVector)
+        _appendOffsetSection(section, offsetConnectingPath, offsetPath)
+    end
     return i
 end
 
diff --git a/scripts/courseGenerator/SplineHelper.lua b/scripts/courseGenerator/SplineHelper.lua
index 1b7b0913d..3d31d85fc 100644
--- a/scripts/courseGenerator/SplineHelper.lua
+++ b/scripts/courseGenerator/SplineHelper.lua
@@ -5,10 +5,11 @@ local SplineHelper = {}
 ---@param from number start index
 ---@param to number end index (may be less than from, to wrap around a polygon's end
 ---@param s number tuck factor
-local function tuck(p, from, to, s)
+local function tuck(p, from, to, s, minAngle, maxAngle)
     for _, cv, pv, nv in p:vertices(from, to) do
         if pv and cv and nv then
-            if not cv.isCorner and cv.dA and math.abs(cv.dA) > CourseGenerator.cMinSmoothingAngle then
+            if not cv.isCorner and cv.dA and math.abs(cv.dA) > (minAngle or CourseGenerator.cMinSmoothingAngle)
+                    and math.abs(cv.dA) < (maxAngle or math.huge) then
                 local m = (pv + nv) / 2
                 local cm = m - cv
                 cv.x, cv.y = cv.x + s * cm.x, cv.y + s * cm.y
@@ -19,7 +20,7 @@ local function tuck(p, from, to, s)
 end
 
 --- Add a vertex between existing ones
-local function refine(p, from, to)
+local function refine(p, from, to, minAngle, maxAngle)
     -- iterate through the existing table but do not insert the
     -- new points, only remember the index where they would end up
     -- (as we do not want to modify the table while iterating)
@@ -28,33 +29,41 @@ local function refine(p, from, to)
     for i, cv, _, nv in p:vertices(from, to) do
         -- initialize ix to the first value of i
         if nv and cv then
-            if not cv.isCorner and cv.dA and math.abs(cv.dA) > CourseGenerator.cMinSmoothingAngle then
+            if not cv.isCorner and cv.dA and math.abs(cv.dA) > (minAngle or CourseGenerator.cMinSmoothingAngle)
+                    and math.abs(cv.dA) < (maxAngle or math.huge) then
                 local m = (nv + cv) / 2
                 local newVertex = cv:clone()
                 newVertex.x, newVertex.y = m.x, m.y
                 ix = ix + 1
-                table.insert(verticesToInsert, {ix = ix, vertex = newVertex})
+                table.insert(verticesToInsert, { ix = ix, vertex = newVertex })
             end
         end
         ix = ix + 1
     end
     for _, v in ipairs(verticesToInsert) do
-        table.insert(p, v.ix, v.vertex )
+        table.insert(p, v.ix, v.vertex)
     end
     p:calculateProperties(from, to + #verticesToInsert)
 end
 
----@return number the index where
-function SplineHelper.smooth(p, order, from, to)
+---@param p Polyline
+---@param order number how many times smooth should be called, more calls will result in a smoother curve
+---@param from number start index
+---@param to number end index (may be less than from, to wrap around a polygon's end
+---@param minAngle number|nil ignore vertices where the delta angle is less than this, default is CourseGenerator.cMinSmoothingAngle
+---@param maxAngle number|nil ignore vertices where the delta angle is greater than this, default is math.huge
+---@return number the index where the smoothing ended, that is, the new value of 'to' after smoothing inserted
+--- new vertices
+function SplineHelper.smooth(p, order, from, to, minAngle, maxAngle)
     if (order <= 0) then
         return
     else
         local origSize = #p
-        refine(p, from, to)
+        refine(p, from, to, minAngle, maxAngle)
         to = to + #p - origSize
-        tuck(p, from, to, 0.5)
-        tuck(p, from, to, -0.15)
-        SplineHelper.smooth(p, order - 1, from, to)
+        tuck(p, from, to, 0.5, minAngle, maxAngle)
+        tuck(p, from, to, -0.15, minAngle, maxAngle)
+        SplineHelper.smooth(p, order - 1, from, to, minAngle, maxAngle)
     end
     return to
 end
diff --git a/scripts/courseGenerator/test/FieldTest.lua b/scripts/courseGenerator/test/FieldTest.lua
index f407a8b9b..c2f0c2184 100644
--- a/scripts/courseGenerator/test/FieldTest.lua
+++ b/scripts/courseGenerator/test/FieldTest.lua
@@ -3,15 +3,15 @@ lu.EPS = 0.01
 function testField()
     local fields = CourseGenerator.Field.loadSavedFields('fields/Coldborough.xml')
     lu.assertEquals(#fields, 9)
-    lu.assertEquals(#fields[8].boundary, 135)
+    lu.assertEquals(#fields[8].boundary, 90)
     local field = fields[8]
     local center = field:getCenter()
-    lu.assertAlmostEquals(center.x, 380.8, 0.1)
-    lu.assertAlmostEquals(center.y, 31.14, 0.1)
+    lu.assertAlmostEquals(center.x, 381.41, 0.1)
+    lu.assertAlmostEquals(center.y, 31.3, 0.1)
     local x1, y1, x2, y2 = field:getBoundingBox()
-    lu.assertAlmostEquals(x1, 307.15)
-    lu.assertAlmostEquals(y1, -80.84)
-    lu.assertAlmostEquals(x2, 452.84)
-    lu.assertAlmostEquals(y2, 157.33)
+    lu.assertAlmostEquals(x1, 307.18)
+    lu.assertAlmostEquals(y1, -80.66)
+    lu.assertAlmostEquals(x2, 452.82)
+    lu.assertAlmostEquals(y2, 157.16)
 end
 os.exit(lu.LuaUnit.run())
diff --git a/scripts/geometry/Polygon.lua b/scripts/geometry/Polygon.lua
index 84c8a167b..fe7316de7 100644
--- a/scripts/geometry/Polygon.lua
+++ b/scripts/geometry/Polygon.lua
@@ -226,9 +226,9 @@ function Polygon:getLongestEdgeDirection()
     return self.longestEdgeDirection
 end
 
-function Polygon:ensureMinimumEdgeLength(minimumLength)
-    Polyline.ensureMinimumEdgeLength(self, minimumLength)
-    if (self[1] - self[#self]):length() < minimumLength then
+function Polygon:ensureMinimumEdgeLength(minimumLength, maxDeltaAngle)
+    Polyline.ensureMinimumEdgeLength(self, minimumLength, maxDeltaAngle)
+    if (self[1] - self[#self]):length() < minimumLength and self:_canRemoveVertex(#self, maxDeltaAngle) then
         table.remove(self, #self)
     end
     self:calculateProperties(#self - 1)
diff --git a/scripts/geometry/Polyline.lua b/scripts/geometry/Polyline.lua
index 79f8b6aa7..0aacf4595 100644
--- a/scripts/geometry/Polyline.lua
+++ b/scripts/geometry/Polyline.lua
@@ -320,7 +320,7 @@ function Polyline:removeGlitches()
     local i = 1
     while i < #self do
         local dA = self:at(i).dA
-        if dA and dA > math.pi - 0.2 then
+        if dA and math.abs(dA) > math.pi - 0.2 then
             table.remove(self, i)
         else
             i = i + 1
@@ -329,11 +329,24 @@ function Polyline:removeGlitches()
     self:calculateProperties()
 end
 
+function Polyline:_canRemoveVertex(i, maxDeltaAngle)
+    if not maxDeltaAngle then
+        return true
+    else
+        -- only remove vertices which aren't around a corner
+        return math.abs(self:at(i + 1).dA) < maxDeltaAngle and math.abs(self:at(i).dA) < maxDeltaAngle
+    end
+end
+
+
 --- If two vertices are closer than minimumLength, replace them with one between.
-function Polyline:ensureMinimumEdgeLength(minimumLength)
+---@param minimumLength number After this operation, no two vertices will be closer than minimumLength
+---@param maxDeltaAngle number|nil when specified, vertices where the delta angle is bigger than this are not removed,
+--- thus, corners are preserved
+function Polyline:ensureMinimumEdgeLength(minimumLength, maxDeltaAngle)
     local i = 1
     while i < #self do
-        if (self:at(i + 1) - self:at(i)):length() < minimumLength then
+        if (self:at(i + 1) - self:at(i)):length() < minimumLength and self:_canRemoveVertex(i, maxDeltaAngle) then
             table.remove(self, i + 1)
         else
             i = i + 1