农机化研究2026，Vol.48Issue(5)：135-142,8.DOI:10.13427/j.issn.1003-188X.2026.05.018
多机器人全覆盖路径规划算法
Multi-Robot Full Coverage Path Planning Algorithm Based on Boustrophedon Cellular Decomposition and Trajectory Tracking
摘要
Abstract
To address the multi-robot collaborative coverage problem in unknown farmland environments,an efficient full coverage path planning algorithm was proposed to achieve high-efficiency area coverage in agricultural mechanization.Based on the Boustrophedon cellular decomposition path planning framework,integrated Simultaneous Localization and Mapping(SLAM)technology to perform real-time map construction,and used a global path planning algorithm to con-duct detailed planning of the operational area paths,evenly distributing the global coverage paths to each robot to ensure the realization of load balancing;meanwhile,a PID controller was adopted to enhance the robustness of trajectory track-ing,achieving precise path following and ensuring the stability and accuracy of the coverage process.In simulation exper-iments on two typical farmland maps—a flat paddy field and a complex mixed crop field—compared to single-robot cov-erage,deploying 5 robots significantly reduced the coverage time from 12,250-24,500 s to 2,450-4,900 s,lowered the path overlap rate to(4±1)%-(5±1)%,and controls the load balancing difference to less than 50%.The algorithm significantly improves coverage efficiency and resource utilization through optimized decomposition and allocation mecha-nisms,providing a reliable framework for multi-robot collaborative agricultural operations.关键词
多农业机器人/覆盖路径规划/轨迹跟踪/协作控制/优化分解/负载均衡Key words
multiple agricultural robots/coverage path planning/trajectory tracking/collaborative control/optimized decomposition/load balancing分类
信息技术与安全科学引用本文复制引用
胡妙丹,郑超,谢舻,王孙杰,马梓琦,黄伟忠..多机器人全覆盖路径规划算法[J].农机化研究,2026,48(5):135-142,8.基金项目
国家重点研发计划项目(2023YFD2000013) （2023YFD2000013）
绍兴市科技计划项目(2022A12002) （2022A12002）
