智能化农业装备学报（中英文）2026，Vol.7Issue(3)：1-18,18.DOI:10.12398/j.issn.2096-7217.2026.03.001
农机群协同作业路径规划与动态避障方法研究
Research on path planning and dynamic obstacle avoidance for cooperative operations of agricultural machinery fleets
摘要
Abstract
In cooperative coverage operations involving multiple agricultural machines in regular open fields,task-strip allocation,headland lane changes,static-obstacle bypassing,and inter-vehicle dynamic conflicts are tightly coupled.As the number of machines increases,waiting,deadheading,frequent braking,and local congestion are more likely to occur,thereby limiting fleet-level operational efficiency.To reduce spatiotemporal conflicts among multiple machines while maintaining coverage completeness and spatial trajectory stability,this study proposes a cooperative coverage path-planning and dynamic obstacle-avoidance method for multiple agricultural machines operating in regular fields with static obstacles.It further compares the applicability of various task-allocation patterns under fixed-index priority and first-come-first-served(FCFS)coordination strategies.Parallel operation strips are generated according to the effective working width,and four task-allocation patterns are constructed:regional partitioning,alternating interleaving,grouped cycling,and centripetal convergence.For single-machine trajectory generation,a fixed-radius Π-shaped headland lane-change trajectory,a safety-buffered tangent-point geometric obstacle-bypass strategy,and a forward-backward bidirectional velocity-scan method are employed to generate spatiotemporal trajectories.During multi-machine execution,a nine-point rigid-body interference detection model is constructed using key points at the front,middle,and rear of each vehicle.Forward-looking conflict prediction,right-of-way arbitration,and smoothed velocity scaling are then integrated to achieve cooperative obstacle avoidance in the velocity domain.A total of 160 simulation cases were conducted in a 600 m×400 m field with three circular obstacles,1-20 agricultural machines,four task-allocation patterns,and two coordination strategies.Under the 20-machine condition,the regional partitioning pattern achieved a total fleet travel distance of 18.36 km under both strategies,with a time-loss rate of 0,an effective operation rate of 85.80%,a waiting time of 0 s,and zero collision-avoidance triggers.Under fixed-index priority/FCFS,the time-loss rates of the alternating interleaving,grouped cycling,and centripetal convergence patterns were 5.39%/4.31%,1.26%/3.87%,and 0/0,respectively,while their effective operation rates were approximately 64.7%,73.5%,and 74.4%.The results show that regional partitioning maintains low path and coordination costs under both strategies,indicating that its overall performance advantage is relatively stable with respect to changes in coordination rules;the other three patterns exhibit fluctuating time-loss,collision-avoidance,and waiting costs with vehicle scale and coordination strategy.关键词
智能农机/覆盖路径规划/动态避障/任务分配/有效作业率Key words
intelligent agricultural machinery/coverage path planning/dynamic obstacle avoidance/task allocation/effective operation rate分类
农业科技引用本文复制引用
马贵福,郑浡文,班婷,杨会民,牛长河,蒋永新..农机群协同作业路径规划与动态避障方法研究[J].智能化农业装备学报（中英文）,2026,7(3):1-18,18.基金项目
自治区公益性科研机构基本业务费专项项目(KY2024023) （KY2024023）
新疆维吾尔自治区自然科学基金项目(2025D01B131) （2025D01B131）
新疆维吾尔自治区重点研发计划项目(2025B02006-1,2025B02002-2) （2025B02006-1,2025B02002-2）
新疆领军人才引进计划-重点地方和行业引才项目 （）
国家重点研发计划(2025YFD1700505-03) Special Project of Basic Scientific Research Funds for Public Welfare Research Institutes in Autonomous Regions(KY2024023) （2025YFD1700505-03）
Natural Science Foundation of Xinjiang Uygur Autonomous Region(2025D01B131) （2025D01B131）
Key Research and Development Program of Xinjiang Uygur Autonomous Region(2025B02006-1,2025B02002-2) （2025B02006-1,2025B02002-2）
Key Local and Industry Talent Recruitment Project of the Xinjiang Leading Talent Program （）
National Key R&D Program of China(2025YFD1700505-03) （2025YFD1700505-03）
