University of Twente Student Theses
Design of an efficient path planning and target assignment system for robotic swarms in agricultural applications
Postmes, J.M. (2021) Design of an efficient path planning and target assignment system for robotic swarms in agricultural applications.
|
PDF
6MB |
| Abstract: | With a growing world population, the demand for agriculture grows as well. However, traditional farming approaches cause various problems, such as soil compaction and decreasing biodiversity. A solution to this problem lies in automation, with one of the options being the deployment of lightweight robots swarms for precision agriculture. Path planning for these robots is a complex, NP-hard problem. In this thesis, the problem is formulated as a type of Vehicle Routing Problem (VRP), continuing previous work at the University of Twente. Several promising algorithms are selected to solve this VRP, and are compared against each other to find the best approach for various agricultural tasks. A system is proposed and evaluated, which takes GPS input data from Google Earth, applies the best algorithm for the specified task, and produces GPS coordinates of routes for the robots to follow. Moreover, some recommendations for improving both the system and the comparison experiments are provided. |
| Item Type: | Essay (Master) |
| Faculty: | EEMCS: Electrical Engineering, Mathematics and Computer Science |
| Subject: | 54 computer science |
| Programme: | Embedded Systems MSc (60331) |
| Link to this item: | https://purl.utwente.nl/essays/86168 |
| Export this item as: | BibTeX EndNote HTML Citation Reference Manager |
Show download statistics for this publication
Show download statistics for this publicationRepository Staff Only: item control page