Multi Robot Cooperative Farming Method Based On Field Relative Priority

Cultivating robot is a kind of agricultural robot used to plow the field.It needs to plow all positions in the field when working.In order to let the cultivating robot complete the work independently and efficiently,it needs to carry out full coverage path planning.Different from the large-scale agricultural model in developed countries,the decentralized agricultural model of one household in China makes it necessary for the cultivating robot to plow multiple fields in turn when working.Therefore,starting from the practical problems,this thesis studies the task allocation and path planning problems when multiple cultivating robots work together to plow multiple fields.It is practical to apply the full coverage path planning technology of multiple robots to cultivating robots.Firstly,the environment model that conforms to the characteristics of domestic farmland and the robot model that conforms to the characteristics of cultivating robot are constructed,and a motion control method based on temporary target points is designed for the robot.Then,based on the three principles of field relative priority high priority,outer field priority and distance near priority,a method for individual robots to independently select the target field is proposed.This method centralizes the field selected by each robot and reduces the total steps of multiple robots moving to the target field.In case of selection conflict,the middle robot selects the outer robot first and then selects the outer robot,which effectively avoids the conflict when the robot selects the target field.When the individual robot fully covers a single field,in order to solve the problems of too many turns in the loop coverage and low coverage in the arch coverage.In this thesis,a full coverage path planning algorithm based on inflection point is designed by combining loop coverage and arch coverage.This algorithm combines the advantages of loop coverage and arch coverage,and overcomes their shortcomings,and can achieve better coverage results.Finally,MATLAB simulation platform is used to simulate the situation when three robots work together,and the simulation results are compared with the simulation when the robot selects the target field according to the principle of the nearest distance.The results show that the method proposed in this thesis is not only feasible but also better.