本文選題：植保無(wú)人機(jī) + 路徑規(guī)劃　； 參考：《農(nóng)業(yè)機(jī)械學(xué)報(bào)》2017年07期

【摘要】：為了提高植保無(wú)人機(jī)的作業(yè)效率,研究了一種路徑規(guī)劃方法。運(yùn)用柵格法構(gòu)建環(huán)境模型,根據(jù)實(shí)際的作業(yè)區(qū)域規(guī)模、形狀等環(huán)境信息和無(wú)人機(jī)航向,為相應(yīng)柵格賦予概率,無(wú)人機(jī)優(yōu)先選擇概率高的柵格行進(jìn)�；谏鲜鰴C(jī)制實(shí)現(xiàn)了在形狀不規(guī)則的作業(yè)區(qū)域內(nèi)進(jìn)行往復(fù)回轉(zhuǎn)式全覆蓋路徑規(guī)劃;以每次植保作業(yè)距離為變量,根據(jù)仿真算法得出返航點(diǎn)數(shù)量與位置來(lái)確定尋優(yōu)模型中的變量維數(shù)范圍,以往返飛行、電池更換與藥劑裝填等非植保作業(yè)耗費(fèi)時(shí)間最短為目標(biāo)函數(shù),通過(guò)采用引力搜索算法,實(shí)現(xiàn)對(duì)返航點(diǎn)數(shù)量與位置的尋優(yōu);為無(wú)人機(jī)設(shè)置必要的路徑糾偏與光順機(jī)制,使無(wú)人機(jī)能夠按既定路線(xiàn)與速度飛行。對(duì)提出的路徑規(guī)劃方法進(jìn)行了實(shí)例檢驗(yàn),結(jié)果顯示,相比于簡(jiǎn)單規(guī)劃與未規(guī)劃的情況,運(yùn)用Grid-GSA規(guī)劃方法得出的結(jié)果中往返飛行距離總和分別減少了14%與68%,非植保作業(yè)時(shí)間分別減少了21%與36%,其它各項(xiàng)指標(biāo)也均有不同程度的提高。在驗(yàn)證測(cè)試試驗(yàn)中,實(shí)際的往返距離總和減少了322 m,實(shí)際路徑與規(guī)劃路徑存在較小偏差。驗(yàn)證了路徑規(guī)劃方法具有合理性、可行性以及一定的實(shí)用性。
[Abstract]:In order to improve the operational efficiency of plant protection UAV, a path planning method is studied. The grid method is used to construct the environment model. According to the environmental information such as the scale and shape of the operational area and the heading of the UAV, the probability is given to the corresponding grid, and the UAV preferentially selects the grid with high probability. Based on the above mechanism, the reciprocating and rotating full coverage path planning is realized in the irregular operation area, and the distance of each plant protection operation is taken as the variable. According to the simulation algorithm, the number and position of return point are obtained to determine the dimension range of variables in the optimization model. The objective function is the shortest time consumption of non-plant protection operations, such as round-trip flight, battery replacement and medicament loading, and the gravitational search algorithm is adopted. It can optimize the number and position of return point, and set up necessary path correction and fairing mechanism for UAV, so that UAV can fly according to the established route and speed. An example is given to verify the proposed path planning method. The results show that compared with the simple programming and unplanned case, According to Grid-GSA planning method, the total round-trip distance is reduced by 14% and 68% respectively, the non-plant protection operation time is reduced by 21% and 36%, and the other indexes are improved to some extent. In the verification test, the actual round-trip distance is reduced by 322 m, and the deviation between the actual path and the planned path is small. The rationality, feasibility and practicability of the path planning method are verified.
【作者單位】： 東北農(nóng)業(yè)大學(xué)工程學(xué)院;
【基金】：公益性行業(yè)(農(nóng)業(yè))科研專(zhuān)項(xiàng)(201303011) 國(guó)家現(xiàn)代農(nóng)業(yè)產(chǎn)業(yè)技術(shù)體系建設(shè)專(zhuān)項(xiàng)(CARS-04-PS22)
【分類(lèi)號(hào)】：TP301.6;V279
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本文編號(hào)：1994252