软件导刊2025，Vol.24Issue(7)：29-37,9.DOI:10.11907/rjdk.241429
多农机全过程路径规划应用研究
Application Research on Whole Process Path Planning of Muti-agricultural Machinery
摘要
Abstract
In smart agriculture,the scheduling and path planning of agricultural machinery are key technologies.However,currently,multi-ple autonomous agricultural machines face issues such as uneven task scheduling,low operational efficiency,and lack of whole-process path planning during operation.Especially in Xinjiang,where individual farmland plots are large,and uneven scheduling of multiple agricultural machines can lead to overload.To address these issues,a whole-process planning algorithm for multi-machine operations is proposed.First,A load balancing allocation method based on K-means is designed,which uses a preheating mechanism to improve efficiency and a check-and-balance factor to ensure that the tasks of each agricultural machine are balanced.Secondly,a scheduling strategy based on hybrid taboo search algorithm is proposed,which incorporates inter-group transfer variation operator and unlocking strategies to avoid local optimums,and efficiently achieves fast scheduling of multiple tasks.Finally,the comprehensive coverage path planning algorithm is introduced to ensure full coverage of field operations.The simulation tests are performed on the constructed electronic map,and the results show that compared with the improved artificial bee colony algorithm,ant colony optimization algorithm and whale optimization algorithm,the proposed algorithm has im-proved performance by 9.15%,9.88%and 8.40%respectively when there are 3,4 and 5 agricultural machines in operation.Meanwhile,the balance of task allocation has been increased by 40.65%,81.12%and 79.47%respectively.Additionally,the effectiveness of the load balanc-ing allocation method and scheduling policy is verified.This algorithm has good application value in achieving balanced scheduling of multi-machine operations while completing field operation paths in smart farms.关键词
多农业机械/均衡分配/调度策略/路径规划Key words
multi-agricultural machinery/balanced allocation/scheduling strategy/path planning分类
信息技术与安全科学引用本文复制引用
张过,赖惠成,杜浩浩..多农机全过程路径规划应用研究[J].软件导刊,2025,24(7):29-37,9.基金项目
科技创新2030——"新一代人工智能"重大项目(2022ZD0115803) （2022ZD0115803）
