Resumen de Path-planning of a Robot Fleet Working in Arable Crops: First Experiments and Results
Ángela Ribeiro Seijas, Jesus Maria Conesa Muñoz
Most agricultural tasks require a planning stage to determine the paths tobe followed by the mobile platforms. Obtaining the optimal path is a difficult taskbecause of the sheer number of factors that must be considered, and the problemis especially complex when more than one mobile platform is involved. In thispaper, path-planning is addressed as an optimisation problem, and a novelapproach, based on a genetic algorithm, is proposed. The aim is to establishoptimal trajectories in arable crops for a fleet of heterogeneous robots thataccomplish weed control tasks when the patch distribution (weed map) is known inadvance. The approach is tested over a wide range of different situations, includingwell known and randomly generated situations. The aim of the study is to verify theperformance of the approach and how well it fits with the expected behaviour.
