Agriculture Reference
In-Depth Information
Implicit communication
Broadcasting
Explicit communication
Point to point
(
momentary
)
Tx-transmit
Rx-receive
CMS
Baler
Tx
Rx
Bale spear
Hay bale
FIGURE 5.14
Coordinated vehicle navigation for performing point-to-point retrieval
operations.
In another instance, three Ag-robots are assumed to be a Combine, Grain Cart
I, and Grain Cart II. Grain Carts I and II (followers) receive instructions from the
Combine (leader) to navigate along specific paths to offload the harvested grain.
Continuous point-to-multipoint communication between the Combine and Grain
Carts is established. Grain Cart I and II maintain their trajectories at (
b
, 0) and
(
b
,
L
) relative to the trajectory of the leader for receiving the harvested grain (Figure
5.15). In addition to point-to-multipoint communication, the states of all vehicles are
broadcasted to the CMS.
In a more
complex multirobots system behavior instance, four autonomous vehi-
cles simultaneously seed the same field. The vehicles divide the seeding task into
multiple working zones and perform work in their own zones. The control architec-
ture provides intelligence to the seeding vehicles that divide the task and delegate
specific vehicles to work in their own zones (Figure 5.16). The autonomous seeding
vehicles broadcast messages with information containing their unique IDs, states,
time stamp, and the status of the assigned work to the CMS. Each vehicle is assigned
a unique ID. The status of work in this case would be the percentage of total area
