圃場における農業用マルチロボット利用のためのACOベース経路計画アルゴリズム

抄録

In recent years, the need for multi-robot systems in an agricultural field has been increasing due to various factors including labor shortages. One of the important technics for applying multi-robot systems to agricultural works is a path planning that generates suitable paths for agricultural field for each robot. In this study, a path planning algorithm using both graph representation of the field based on a graph theory and path generation by Ant Colony Optimization is proposed for equalizing and minimizing the working distance of each robot. Experimental simulation results confirmed that the paths can be generated with a small error in the working distance for each robot, taking into account the work on all ridges and movement between fields.