A method for task allocation among heterogeneous group robots for automated operation of a fruit orchard

Abstract

The paper deals with the automated maintenance of a fruit orchard using a heterogeneous group of robots including ground robots and unmanned aerial vehicles. A method of task distribution between robots is proposed, taking into account climatic and time constraints, orchard topology, robot parameters and priorities of operations. It describes the division of the cycle into a sequence of time intervals, each of which takes into account the type of technology used and required to perform the planned tasks. Monitoring, irrigation, fertilizer application with their priorities for each fruit-tree in the orchard are considered as tasks. The formation of a route network is proposed, as well as the search for a rational scenario of mission fulfillment on the investigated time interval using heuristic and meta-heuristic algorithms. Constraints that take into account the autonomy of the robots, the duration of the interval, the number of consecutive flights/moves, etc. are considered. Adjustment of tasks at time intervals is presented, taking into account unresolved tasks at previous time intervals. The developed method allows optimizing the use of resources and increasing the efficiency of automated plant care.