DocumentCode :
2823874
Title :
Multi-path planning based on a NSGA-II for a fleet of robots to work on agricultural tasks
Author :
Conesa-Muñoz, Jesus ; Ribeiro, Angela ; Andujar, Dionisio ; Fernandez-Quintanilla, Cesar ; Dorado, Jose
Author_Institution :
Centre for Autom. & Robot., UPM, Madrid, Spain
fYear :
2012
fDate :
10-15 June 2012
Firstpage :
1
Lastpage :
8
Abstract :
In many situations, using multiple robots in the same environment is a good strategy to handle tasks that are too complex or even too expensive for a single robot. One of these situations is the automation of tasks in the agricultural environment. In this context, one of the main problems consists of determining the best routes (multi-path plan) for the robots to minimise cost, while ensuring a fully completed treatment, i.e., the whole field is covered. The cost can be expressed by a function that considers the most relevant features of each robot in the fleet, for example, in a spray weed treatment, the tank capacity, the number of turns required or the time spent in the whole treatment. This multi-path planning problem can be expressed as a bi-objective problem. In particular, in this paper, two different objectives are taken into account: the cost in time and the cost in money. This formulation allows the analysis of situations in which it is important to distribute the robots to reduce the time of the treatment independently of the money spent and of situations where it is important to reduce the spent money independently of the time consumed. A Non-dominated Sorting Genetic Algorithm II (NSGA-II) is proposed for solving the multi-objective problem. The proposed approach has proven to offer good results in multiple situations dealing with different fields and robots with diverse features. Moreover, the results obtained show that it is possible to determine solutions very close to the optimum of each objective, even simultaneously.
Keywords :
agriculture; cost reduction; genetic algorithms; mobile robots; multi-robot systems; path planning; NSGA-II; agricultural tasks; bi-objective problem; cost minimization; multiobjective problem; multipath planning problem; multiple robots; nondominated sorting genetic algorithm II; spray weed treatment; tank capacity; Agriculture; Fuels; Robot kinematics; Turning; Vectors; Vehicles; Multi-objective optimisation; Multi-path planning; NSGA-II; Robot fleet coordination; Weed control;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Evolutionary Computation (CEC), 2012 IEEE Congress on
Conference_Location :
Brisbane, QLD
Print_ISBN :
978-1-4673-1510-4
Electronic_ISBN :
978-1-4673-1508-1
Type :
conf
DOI :
10.1109/CEC.2012.6256629
Filename :
6256629
Link To Document :
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