Agricultural field coverage using cooperating unmanned ground vehicles
Abstract
In this paper, a distributed algorithm with obstacle avoidancecapability is presented to deploy a group of ground robots forfield-based agriculture applications. To this end, the field (consisting of many plots) is first modeled as a directed graph, and therobots are deployed to collect data from some important areas ofthe field (e.g., areas with high water stress or biotic stress). Thekey idea is to formulate the underlying problem as a locationaloptimization problem and then find the optimal solution based onthe Voronoi partitioning of the associated graph. The proposedpartitioning method is validated through simulation studies, aswell as experiments using a group of mobile robots.
Publication Title
ASME 2019 Dynamic Systems and Control Conference, DSCC 2019
Recommended Citation
Faryadi, S., Davoodi, M., & Velni, J. (2019). Agricultural field coverage using cooperating unmanned ground vehicles. ASME 2019 Dynamic Systems and Control Conference, DSCC 2019, 2 https://doi.org/10.1115/DSCC2019-8992
