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JRM Vol.26 No.4 pp. 505-512
doi: 10.20965/jrm.2014.p0505
(2014)

Paper:

A Control Method for a Swarm of Plant Pot Robots that Uses Artificial Potential Fields for Effective Utilization of Sunlight

Masato Yuasa and Ikuo Mizuuchi

Department of Mechanical Systems Engineering, Tokyo University of Agriculture and Technology, 2-24-16 Nakacho, Koganei, Tokyo 184-8588, Japan

Received:
October 23, 2012
Accepted:
May 20, 2014
Published:
August 20, 2014
Keywords:
plant pot robots system, agricultural robotics, artificial potential fields, swarm robotics
Abstract
Plant pot robots “Plantroid”

Plant production factories and agricultural robots are being studied and developed these days. In these cultivation systems, however, it has been difficult to manage the state of each individual plant. We propose a cultivation system that uses a swarm of plant pot robots to automatically move each plant to an optimal environment, based on the plant’s sensory information and surroundings. In this paper, we propose a control method for the swarm of plant pot robots that uses artificial potential fields for effective temporal and spatial utilization of sunlight, and we show its effectiveness through simulation and experimentation.

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