Multi-robot collision avoidance method in sweet potato fields

Abstract

Currently, precise spraying of sweet potatoes is mainly accomplished through semi-mechanized or single spraying robots, which results in low operating efficiency. Moreover, it is time-consuming and labor-intensive, and the pests and diseases cannot be eliminated in time. Based on multi robot navigation technology, multiple robots can work simultaneously, improving work efficiency. One of the main challenges faced by multi robot navigation technology is to develop a safe and robust collision avoidance strategy, so that each robot can safely and efficiently navigate from its starting position to the expected target. In this article, we propose a low-cost multi-robot collision avoidance method to solve the problem that multiple robots are prone to collision when working in field at the same time. This method has achieved good results in simulation. In particular, our collision avoidance method predicts the possibility of collision based on the robot’s position and environmental information, and changes the robot’s path in advance, instead of waiting for the robot to make a collision avoidance decision when it is closer. Finally, we demonstrate that a multi-robot collision avoidance approach provides an excellent solution for safe and effective autonomous navigation of a single robot working in complex sweet potato fields. Our collision avoidance method allows the robot to move forward effectively in the field without getting stuck. More importantly, this method does not require expensive hardware and computing power, nor does it require tedious parameter tuning.