除草群ロボット経路計画のためのk-means法を用いた圃場領域分割

抄録

As one approach to smart agriculture, we have been studying using swarm robots for weeding, burdensome part of agricultural tasks. In this paper, to perform weeding using swarm robots, we propose a method to graph the field based on path features and divide the weeding area according to the number of robots using the k-means++ method for planning robot paths. To verify the usefulness of the proposed method, experimental simulations of region segmentation with evaluation of the number of robots and the movement cost were conducted using several fields.