多作业区域植保无人机航线规划算法

发布时间：2018-02-27 08:39

本文关键词： 植保无人机航线规划多区域作业算法　出处：《农业机械学报》2017年02期 　论文类型：期刊论文

【摘要】：针对植保施药多个作业区域的情况,研究了一种植保无人机全局航线规划算法,将整个算法分为单个区域航线规划、区域间作业顺序和区域间调度航线规划3部分。从作业路程、多余覆盖和遗漏覆盖的角度,分析了多种覆盖作业方式的优劣,确定了无人机在单区域内的覆盖方式。基于遗传算法与TSP问题得到区域间的优化作业顺序,并基于改进的二进制编码遗传算法进行区域间调度航线的规划,最终实现无人机多作业区域航线的全局规划。仿真结果表明,规划算法可以有效地实现全局航线的规划,缩短了无人机的作业距离与区域间调度飞行的距离,达到了能耗与工作时间的优化,节省了航线规划所需的人力成本,使作业管理更加便利。
[Abstract]:In this paper, a global route planning algorithm for plant protection UAVs is studied, which divides the whole algorithm into a single area route planning. This paper analyzes the advantages and disadvantages of various coverage modes from the point of view of operation distance, redundant coverage and missing coverage. Based on genetic algorithm (GA) and TSP problem, the optimal operation sequence between regions is obtained, and the route planning of inter-region scheduling is carried out based on the improved binary coding genetic algorithm. The simulation results show that the planning algorithm can effectively realize the global route planning and shorten the distance between the UAV operation distance and the inter-region scheduling flight. The optimization of energy consumption and working time is achieved, the labor cost of route planning is saved, and the operation management is more convenient.
【作者单位】：北京农业智能装备技术研究中心;中国农业大学工学院;北京市农林科学院农业智能装备技术北京市重点实验室;
【分类号】：TP18

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