Title: Complete coverage path planning algorithm for multiple agricultural robots

Authors: Changjie Liu; Haobo Zhang; Yangjie Ji

Addresses: School of Automotive Studies, Tongji University, Shanghai, 201804, China ' School of Automotive Studies, Tongji University, Shanghai, 201804, China ' School of Automotive Studies, Tongji University, Shanghai, 201804, China

Abstract: Multi-robot complete-coverage path planning (MCCPP) is an important direction in developing intelligent agricultural robots. Firstly, to address the problem that the existing region decomposition algorithm has too many subregions and contains concave subregions, this paper adopts the improved Maklink line to convexly decompose the workspace to obtain the minimum number of convex subregions. Secondly, the current MCCPP algorithm suffers from duplicate coverage of connection paths, uneven task allocation, and failure to consider the robot's extra energy consumption. This paper adopts the Dijkstra algorithm to plan the shortest non-duplicated connected paths between any subregions; improves the existing objective function by combining with the actual; and retains the high-quality gene fragments for chromosome crossover according to the breakpoints. Finally, the improved Non-dominated Sorting Genetic Algorithm (NSGA-II) is simulated in real planting areas, and the total connected paths and planting area balance are optimised compared to the traditional NSGA-II.

Keywords: precision agriculture; multi-robots; complete coverage path planning; NSGA-II; non-dominated sorting genetic algorithm.

DOI: 10.1504/IJVD.2025.148137

International Journal of Vehicle Design, 2025 Vol.97 No.2/3/4, pp.91 - 109

Received: 06 May 2024
Accepted: 11 Sep 2024
Published online: 27 Aug 2025 *

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