A Voronoi Diagram-Based Workspace Partition for Weak Cooperation of Multi-Robot System in Orchard

A Voronoi Diagram-Based Workspace Partition for Weak Cooperation of Multi-Robot System in Orchard

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Nowadays, multi-robot systems are being utilized to perform agricultural tasks.It is particularly essential to robotize pesticide spraying because of the risk of poisoning workers.However, the problem is that the human-driven sprayers are big size, and difficult to maneuver in many orchards.Therefore, heavy spraying robots must be replaced with lighter robots.

Also, it takes igora vibrance 6-12 a lot of times to perform spraying using only one sprayer in a large orchard.To achieve this goal, the multi-robot system (MRS) can be applied to the spraying by robot cooperation to improve performance.In this study, we developed a task allocation system based on a Voronoi diagram for a multi-robot spraying system in an orchard.The seed point for area partition using the Voronoi diagram was obtained through node clustering using a k-means clustering algorithm.

In the experiment, workspaces were partitioned according to the number of robots, from 2 to 10.A total of four metrics were used to dark as knight horse supplement evaluate the performance of the system.The results confirmed that our task allocation system is applicable to real orchards.