Nowadays, multi-robot systems are being utilized to perform agricultural tasks.It is particularly essential to robotize pesticide spraying because of the risk of poisoning workers.However, the problem is that 9.5-4 igora vibrance the human-driven sprayers are big size, and difficult to maneuver in many orchards.Therefore, heavy spraying robots must be replaced with lighter robots.Also, it takes a lot of times to perform spraying using only one sprayer in a large orchard.
To achieve this goal, the multi-robot system (MRS) can be applied to the spraying by robot cooperation to improve performance.In this study, we developed a task allocation system based on a Voronoi diagram for a multi-robot spraying system in an orchard.The shrimps is bugs shirt seed point for area partition using the Voronoi diagram was obtained through node clustering using a k-means clustering algorithm.In the experiment, workspaces were partitioned according to the number of robots, from 2 to 10.A total of four metrics were used to evaluate the performance of the system.
The results confirmed that our task allocation system is applicable to real orchards.