农业机械学报2026，Vol.57Issue(3)：16-26,11.DOI:10.6041/j.issn.1000-1298.2026.03.002
基于改进海鸥算法的无人机山地果园三维路径规划方法
Three Dimensional Path Planning Method for UAV in Mountainous Orchards Based on Improved Seagull Optimization Algorithm
摘要
Abstract
It is crucial to achieve safe and efficient multi-target waypoint operation of crop protection drones in complex environments of mountainous orchards,reduce energy consumption of drone operations,and implement reasonable path planning.Addressing the issues of low efficiency,convoluted search paths,and slow convergence speed in traditional seagull optimization algorithm(SOA).A 3D path planning method was designed based on the improved seagull optimization algorithm(PSOA).Firstly,based on the actual scene of mountainous orchards,the vertex coordinates of the fruit tree canopy were obtained and a three-dimensional orchard model was established.Then,an energy loss model for rotary wing unmanned aerial vehicles was established in the three-dimensional path planning of a single work area to evaluate and optimize flight path performance,in order to achieve the most energy-efficient three-dimensional path planning.Finally,in response to the problem of seagull optimization algorithm easily getting stuck in local optima and slow convergence speed,the Lévy flight mechanism was introduced to expand the search range,the adaptive control factor was used to improve the search ability,and the elite retention strategy was applied to maintain population diversity,in order to obtain the globally optimal three-dimensional flight path.Comparative verification of benchmark test functions showed that PSO outperformed other mainstream optimization algorithms in terms of convergence accuracy,convergence speed,and stability.The simulation results of the experimental field showed that compared with traditional SOA,the PSO algorithm reduced the total path length by 48.74%,the total turning angle by 24.36%,the expected energy consumption by 49.10%,the expected operation time by 33.3%,and significantly reduceds the number of dangerous nodes.This method can optimize the operation path based on the crown vertex position of fruit trees and the energy consumption characteristics of drones,providing an effective solution for the three-dimensional path planning problem of crop protection drones in mountainous orchards.关键词
植保无人机/山地果园/海鸥优化算法/三维路径规划Key words
plant protection drone/mountain orchard/seagull optimization algorithm/3D path planning分类
农业科技引用本文复制引用
张亚莉,彭婉航,孙智磊,林少臻,王林琳,兰玉彬..基于改进海鸥算法的无人机山地果园三维路径规划方法[J].农业机械学报,2026,57(3):16-26,11.基金项目
国家重点研发计划项目(2023YFD2000202)和高等学校学科创新引智基地项目(D18019) （2023YFD2000202）
