Method for Optimizing the Structure and Parameters of Mobile Robots in a Group for Joint Solution of Agricultural Problems

The paper considers the problem of optimizing the structure and parameters of a group of mobile robots. The formulation of the optimization problem involves using the number, types and parameters of robots as optimization parameters, and the task execution time and other performance indicators as criteria. A database of mobile robots and manipulators installed on them for performing agricultural tasks has been developed. A mathematical model has been obtained that allows calculating quantitative indicators of the productivity of a group of robots based on the composition and parameters of the group, as well as the characteristics presented in the database. A genetic algorithm is used as an algorithm. A software package has been developed that integrates a database, an optimization algorithm and modules for calculating the performance indicators of the group. Computational experiments have been performed and optimal configurations of a group of robots have been obtained using the example of the task of fruit harvesting.