FLEETS OF THE ROBOTS PRECISION AGRICULTURE : A SIMULATION INVIRONMENT

FLEETS OF THE ROBOTS PRECISION AGRICULTURE : A SIMULATION INVIRONMENT

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Begin Constant L: field Length Constant W: field Width Constant inter_row: average distance between plants in adjacent rows Constant intra_row: average distance between plants in the same row Constant σ: the variance of the inter_row distance

Previous Coordinate Y = - (L/2) Previous Coordinate X = - (W/2) Repeat

n = 0 Repeat Generate a random number following a normal distribution with mean 0 and variance σ Next Coordinate X = Previous Coordinate X + random number

Next Coordinate Y = Previous Coordinate Y + intra_row*(n) Assign the coordinate location to a crop

n=n+1 Until – a row is finished Previous Coordinate X = Previous Coordinate X + inter_row Until – the field is populated entirely

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Begin Constant N: total number of weed clusters Constant a: minimum number of weeds for each cluster Constant b: maximum number of weeds for each cluster Constant L: field Length

Constant W: field Width Constant σ: the variance of the location for each weed Repeat (for each weed cluster)

Generate a random number between –L/2 and L/2 Generate a random number between –W/2 and W/2 Assign the base location to a cluster in the field Generate a random number between a and b Repeat

Generate a random number following a normal distribution, using the X location as the mean

of the function and a variance of σ Generate a random number following a normal distribution, using the Y location as the mean

of the function and a variance of σ Assign the coordinate location to a weed Until – all weeds for that cluster have a coordinate location Until – all clusters are generated