Automation in Agricultural Field using Decentralised Framework

This paper deals with the scenario of multiple agricultural mobile robots coordinating in a decentralized framework to automate agricultural tasks. With the emergence of COVID-19, automation is the key to accomplishing tasks with less human intervention. In this regard, we present a composite methodology to coordinate and control the movement of robots deployed in the agriculture field autonomously. We consider the kinematic model which defines the dynamics of the differential drive robot. Further, we propose a new path planning algorithm with Voronoi diagrams and Convex Hull for the effective navigation of the robot in the allocated area. Also, we investigate two network topologies to know the connected graph of each robot at any given time. These topologies help in minimising the communication overhead between robots. We demonstrate the efficacy of the chosen framework and models with simulations.