Artificial Potential Field Method for Area Coverage of Multi Agricultural Robots

The robot area full coverage problem is a particular path planning problem, which requires robots to cover all parts of the area except obstacles. It has been used in the actual production of agriculture, such as weeding, fertilization, spraying. In this paper, an artificial potential field method of multi-robot full coverage path planning algorithm is used to make several agricultural robots spontaneous organization and coordination, to achieve the full coverage of farmland, greenhouse and other agricultural scenes. According to robots’ repulsion force to obstacles in the artificial potential field method, the repulsion force between robots is increased. The goal points are generated to lead the robots to move to the direction that is not covered, and the re-coverage of the area is minimized as far as possible. Simulations show that the algorithm can achieve more than 95% full coverage of the task area with good performance, adaptability and robustness.