基于Grid-GSA算法的植保无人机路径规划方法

发布时间：2018-06-08 03:33

  本文选题：植保无人机 + 路径规划　； 参考：《农业机械学报》2017年07期

【摘要】：为了提高植保无人机的作业效率,研究了一种路径规划方法。运用栅格法构建环境模型,根据实际的作业区域规模、形状等环境信息和无人机航向,为相应栅格赋予概率,无人机优先选择概率高的栅格行进。基于上述机制实现了在形状不规则的作业区域内进行往复回转式全覆盖路径规划;以每次植保作业距离为变量,根据仿真算法得出返航点数量与位置来确定寻优模型中的变量维数范围,以往返飞行、电池更换与药剂装填等非植保作业耗费时间最短为目标函数,通过采用引力搜索算法,实现对返航点数量与位置的寻优;为无人机设置必要的路径纠偏与光顺机制,使无人机能够按既定路线与速度飞行。对提出的路径规划方法进行了实例检验,结果显示,相比于简单规划与未规划的情况,运用Grid-GSA规划方法得出的结果中往返飞行距离总和分别减少了14%与68%,非植保作业时间分别减少了21%与36%,其它各项指标也均有不同程度的提高。在验证测试试验中,实际的往返距离总和减少了322 m,实际路径与规划路径存在较小偏差。验证了路径规划方法具有合理性、可行性以及一定的实用性。
[Abstract]:In order to improve the operational efficiency of plant protection UAV, a path planning method is studied. The grid method is used to construct the environment model. According to the environmental information such as the scale and shape of the operational area and the heading of the UAV, the probability is given to the corresponding grid, and the UAV preferentially selects the grid with high probability. Based on the above mechanism, the reciprocating and rotating full coverage path planning is realized in the irregular operation area, and the distance of each plant protection operation is taken as the variable. According to the simulation algorithm, the number and position of return point are obtained to determine the dimension range of variables in the optimization model. The objective function is the shortest time consumption of non-plant protection operations, such as round-trip flight, battery replacement and medicament loading, and the gravitational search algorithm is adopted. It can optimize the number and position of return point, and set up necessary path correction and fairing mechanism for UAV, so that UAV can fly according to the established route and speed. An example is given to verify the proposed path planning method. The results show that compared with the simple programming and unplanned case, According to Grid-GSA planning method, the total round-trip distance is reduced by 14% and 68% respectively, the non-plant protection operation time is reduced by 21% and 36%, and the other indexes are improved to some extent. In the verification test, the actual round-trip distance is reduced by 322 m, and the deviation between the actual path and the planned path is small. The rationality, feasibility and practicability of the path planning method are verified.
【作者单位】： 东北农业大学工程学院;
【基金】：公益性行业(农业)科研专项(201303011) 国家现代农业产业技术体系建设专项(CARS-04-PS22)
【分类号】：TP301.6;V279
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本文编号：1994252