Row Allocation Negotiation for a Fleet of Strawberry Harvesting Robots
Row Allocation Negotiation for a Fleet of Strawberry Harvesting Robots
复制标题
草莓采摘机器人车队的行分配协商
DOI：
10.1115/1.4054644
复制
发表时间：
2022
期刊：
影响因子：
--
通讯作者：
Xu, Yunjun
中科院分区：
文献类型：
--
作者：
Mapes, Madeline;Xu, Yunjun
合作的小型收获机器人，模仿一群人类采摘者，有可能显著降低草莓生产对劳动力的依赖。研究了一种三层算法，以有效地为机器人分配行，每个机器人都被激励在车队的收获时间内最大限度地增加其采摘的草莓总数。该算法以分散的局部拍卖和协商策略为主要阶段，采用保证分配的集中式后备算法。该算法的显著特点是减少了通信时间、可伸缩性、分散阶段的恒定时间复杂度和易于实现。在蒙特卡罗模拟中对所提出的算法进行了评估，与集中式方法相比，该算法具有更好的性能(例如，显著减少了计算时间)。预计这种行协商算法可以通过协作的小型收获机器人来解决草莓收获中的一个重要缺口。
Cooperative small harvesting robots, mimicking a group of human pickers, have the potential to significantly reduce labor dependence in strawberry production. A tri-layered algorithm is investigated to effectively assign rows to robots with each robot incentivized to maximize its total number of picked strawberries within the fleet’s harvesting time. The proposed algorithm consists of a decentralized local auction and negotiation strategy as the primary phase with a centralized fallback algorithm that guarantees an assignment. The salient features of the algorithm are reduced communication time, scalability, constant time complexity in the decentralized phase, and ease of implementation. The proposed algorithm is evaluated in a Monte Carlo simulation and the superior performance (e.g., significantly reduced computational time) is observed when compared with a centralized approach. It is expected that this row negotiation algorithm can address an important gap in strawberry harvesting via cooperative, small harvesting robots.