农业工程2026，Vol.16Issue(1)：21-28,8.DOI:10.19998/j.cnki.2095-1795.202506036
基于改进遗传算法的多无人机农业测绘协同路径建模
Cooperative path modeling for multiple unmanned aerial vehicles in agricultural mapping based on improved genetic algorithm
摘要
Abstract
To address challenges in multiple unmanned aerial vehicle(UAVs)agricultural mapping such as poor path coordination,weak obstacle avoidance capability in complex farmland environments,and difficulty in balancing mapping accuracy and efficiency,a dual approach was proposed through mathematical modeling and intelligent algorithm optimization.A large-scale farmland was selected as research scenario,by integrating crop type zoning,field heterogeneous obstacles,and differentiated mapping requirements to con-struct a multi-constraint and multi-objective cooperative path planning model.Building upon conventional genetic algorithms,an im-proved genetic algorithm was developed by incorporating a crop zoning weight matrix to optimize fitness function and designing a region-continuity crossover operator.Simulations were conducted in a 10 km×10 km agricultural planting area,comparing improved genetic al-gorithm with standard genetic algorithm(SGA)and non-dominated sorting genetic algorithm Ⅱ(NSGA-Ⅱ).Results demonstrated that improved genetic algorithm significantly achieved an average total path length of 31.8±1.2 km,with coverage completeness reaching 99.3％±0.2％,and obstacle avoidance success rate at 100％while maintaining convergence speed at an average of 105 generations.Res-ults significantly outperformed comparison algorithms,achieving a 100％resolution compliance rate in facility agriculture zones.An ef-ficient and reliable technical framework for multi-UAVs cooperative mapping in precision agriculture scenarios was provided.关键词
改进遗传算法/无人机/农业测绘/协同路径规划/数学建模Key words
improved genetic algorithm/UAV/agricultural mapping/cooperative path planning/mathematical modeling分类
农业科技引用本文复制引用
顾丽娜,朱军伟,李生彪..基于改进遗传算法的多无人机农业测绘协同路径建模[J].农业工程,2026,16(1):21-28,8.基金项目
陕西省教育厅2024年度科学研究计划项目(24JK0738) （24JK0738）
杨凌职业技术学院院内基金项目(ZK23-49、ZK24-65) （ZK23-49、ZK24-65）
