A Path Planning and Coordination Algorithm for Heterogeneous Tasks of Multi-UGV in Smart Farm: Work in Progress

摘要

We propose a path planning and coordination algorithm for the heterogeneous tasks of multiple unmanned ground vehicles in a smart farm. The proposed algorithm considers the priorities of each of the tasks to maximize the productivity of smart farms. The algorithm can solve a scenario in which the robot operations are stopped unnecessarily. The proposed algorithm will be verified in a field evaluation. In this paper, we describe our experimental scenarios and list the performance metrics used in the field experiments. For evaluation, situations in which multiple UGVs are required to be coordinated in a smart farm were assumed as the experimental scenarios. The following performance metrics were used: (1) utilization rate, (2) success rate, (3) number of collisions, and (4) localization errors. The experimental results will be statistically analyzed. We hope that the analysis results will help determine whether the proposed path planning and coordination algorithm is effective when used in smart farms.