本文關(guān)鍵詞： 植保無(wú)人機(jī) 航線規(guī)劃 多區(qū)域作業(yè) 算法　出處：《農(nóng)業(yè)機(jī)械學(xué)報(bào)》2017年02期 　論文類型：期刊論文

【摘要】：針對(duì)植保施藥多個(gè)作業(yè)區(qū)域的情況,研究了一種植保無(wú)人機(jī)全局航線規(guī)劃算法,將整個(gè)算法分為單個(gè)區(qū)域航線規(guī)劃、區(qū)域間作業(yè)順序和區(qū)域間調(diào)度航線規(guī)劃3部分。從作業(yè)路程、多余覆蓋和遺漏覆蓋的角度,分析了多種覆蓋作業(yè)方式的優(yōu)劣,確定了無(wú)人機(jī)在單區(qū)域內(nèi)的覆蓋方式�；谶z傳算法與TSP問(wèn)題得到區(qū)域間的優(yōu)化作業(yè)順序,并基于改進(jìn)的二進(jìn)制編碼遺傳算法進(jìn)行區(qū)域間調(diào)度航線的規(guī)劃,最終實(shí)現(xiàn)無(wú)人機(jī)多作業(yè)區(qū)域航線的全局規(guī)劃。仿真結(jié)果表明,規(guī)劃算法可以有效地實(shí)現(xiàn)全局航線的規(guī)劃,縮短了無(wú)人機(jī)的作業(yè)距離與區(qū)域間調(diào)度飛行的距離,達(dá)到了能耗與工作時(shí)間的優(yōu)化,節(jié)省了航線規(guī)劃所需的人力成本,使作業(yè)管理更加便利。
[Abstract]:In this paper, a global route planning algorithm for plant protection UAVs is studied, which divides the whole algorithm into a single area route planning. This paper analyzes the advantages and disadvantages of various coverage modes from the point of view of operation distance, redundant coverage and missing coverage. Based on genetic algorithm (GA) and TSP problem, the optimal operation sequence between regions is obtained, and the route planning of inter-region scheduling is carried out based on the improved binary coding genetic algorithm. The simulation results show that the planning algorithm can effectively realize the global route planning and shorten the distance between the UAV operation distance and the inter-region scheduling flight. The optimization of energy consumption and working time is achieved, the labor cost of route planning is saved, and the operation management is more convenient.
【作者單位】： 北京農(nóng)業(yè)智能裝備技術(shù)研究中心;中國(guó)農(nóng)業(yè)大學(xué)工學(xué)院;北京市農(nóng)林科學(xué)院農(nóng)業(yè)智能裝備技術(shù)北京市重點(diǎn)實(shí)驗(yàn)室;
【分類號(hào)】：TP18

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