华南农业大学学报2025，Vol.46Issue(3)：390-398,9.DOI:10.7671/j.issn.1001-411X.202409017
基于改进粒子群算法的高地隙无人喷雾机对不规则凸田块的全覆盖作业路径规划
Complete coverage path planning of irregular convex field for the high clearance unmanned sprayer based on improved particle swarm optimizer algorithm
摘要
Abstract
[Objective]In order to meet the application requirements of autonomous navigation full-coverage operation of high clearance unmanned sprayers and optimize the efficiency of agricultural machine operation.[Method]A complete coverage traversal path planning algorithm for irregular convex fields was proposed.Firstly,an boundary contour model of irregularly convex field was obtained based on the boundary data of farmland area.Secondly,on the basis of the traditional U-turn pattern,the angle between the operation rows and the field boundaries was introduced to elaborate the principles of articulated paths between the operation rows in detail.After generating complete coverage operation rows with random direction angles by parallel line offset from the straight line passing through the center point of the irregular convex region,the direction angles of the operation rows were optimized by the improved particle swarm optimizer(PSO)algorithm,and the field traversal complete coverage working paths were generated.Finally,the algorithm was tested through simulations on four typical real-world fields.[Result]Compared with traditional path planning algorithms,the proposed algorithm reduced the total traversal distance by 9.01,23.25,8.71 and 14.32 m in fields 1 to 4,respectively.The reduction rates of the number of turns were 11.1%,61.5%,16.7%and 5.3%,while the additional coverage rates decreased by 0.20,0.96,0.45 and 1.96 percentage points,respectively.These improvements effectively reduced the energy consumption of unmanned agricultural machinery and enhanced operational efficiency.[Conclusion]Under the premise of complete coverage for the operation area,the proposed algorithm can generate operation paths for unmanned agricultural machinery with shorter travel distances,higher coverage rates and fewer turns.This provides a theoretical support for the development of path planning technology for unmanned agricultural machinery.关键词
无人农机/全覆盖路径规划/路径规划/粒子群算法/不规则凸田块/高地隙无人喷雾机Key words
Unmanned agricultural machinery/Complete coverage path planning/Route planning/Particle swarm optimizer(PSO)algorithm/Irregular conver field/High clearance unmanned sprayer分类
农业科技引用本文复制引用
刘国海,万亚连,沈跃,刘慧,何思伟,张亚飞..基于改进粒子群算法的高地隙无人喷雾机对不规则凸田块的全覆盖作业路径规划[J].华南农业大学学报,2025,46(3):390-398,9.基金项目
国家自然科学基金(52377054) （52377054）
