Agricultural Field Coverage Using Cooperating Unmanned Ground Vehicles

IF 1 Q4 AUTOMATION & CONTROL SYSTEMS

Mechatronic Systems and Control Pub Date : 2019-11-26 DOI:10.1115/dscc2019-8992

S. Faryadi, Mohammadreza Davoodi, J. M. Velni

引用次数: 4

Abstract

In this paper, a distributed algorithm with obstacle avoidance capability is presented to deploy a group of ground robots for field-based agriculture applications. To this end, the field (consisting of many plots) is first modeled as a directed graph, and the robots are deployed to collect data from some important areas of the field (e.g., areas with high water stress or biotic stress). The key idea is to formulate the underlying problem as a locational optimization problem and then find the optimal solution based on the Voronoi partitioning of the associated graph. The proposed partitioning method is validated through simulation studies, as well as experiments using a group of mobile robots.

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利用协同无人地面车辆覆盖农田

本文提出了一种具有避障能力的分布式算法，以部署一组地面机器人用于田间农业应用。为此，首先将现场(由许多地块组成)建模为有向图，然后部署机器人从现场的一些重要区域(例如，高水分压力或生物压力的区域)收集数据。关键思想是将底层问题表述为位置优化问题，然后根据相关图的Voronoi划分找到最优解。通过仿真研究和一组移动机器人的实验验证了所提出的划分方法。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

Mechatronic Systems and Control AUTOMATION & CONTROL SYSTEMS-

CiteScore

1.40

自引率

66.70%

发文量

期刊介绍： This international journal publishes both theoretical and application-oriented papers on various aspects of mechatronic systems, modelling, design, conventional and intelligent control, and intelligent systems. Application areas of mechatronics may include robotics, transportation, energy systems, manufacturing, sensors, actuators, and automation. Techniques of artificial intelligence may include soft computing (fuzzy logic, neural networks, genetic algorithms/evolutionary computing, probabilistic methods, etc.). Techniques may cover frequency and time domains, linear and nonlinear systems, and deterministic and stochastic processes. Hybrid techniques of mechatronics that combine conventional and intelligent methods are also included. First published in 1972, this journal originated with an emphasis on conventional control systems and computer-based applications. Subsequently, with rapid advances in the field and in view of the widespread interest and application of soft computing in control systems, this latter aspect was integrated into the journal. Now the area of mechatronics is included as the main focus. A unique feature of the journal is its pioneering role in bridging the gap between conventional systems and intelligent systems, with an equal emphasis on theory and practical applications, including system modelling, design and instrumentation. It appears four times per year.