农用无人机多机多田块作业路径规划算法
DOI:
作者:
作者单位:

作者简介:

通讯作者:

中图分类号:

基金项目:

国家自然科学基金项目(31771683,52075211);湖北省重点研发计划项目(2020BBB062);中央高校基本科研业务费专项(2662020GXP001)


Path planning algorithm for cooperative operation of multiple agricultural UAVs in multiple fields
Author:
Affiliation:

Fund Project:

  • 摘要
  • |
  • 图/表
  • |
  • 访问统计
  • |
  • 参考文献
  • |
  • 相似文献
  • |
  • 引证文献
  • |
  • 资源附件
  • |
  • 文章评论
    摘要:

    针对含障碍物多田块条件下的多台农用无人机路径规划问题,研究提出一套完整的多无人机协同作业路径优化算法解决方案。以最小转移路径长度为作业优化目标,先基于多边形扫描填充算法计算出水平航向条件的初始覆盖作业航线,对航线间危险转移过程进行安全边界相交性测试,每单一田块分别采用凸多边形“最小跨度法”和非凸多边形“步进旋转法”优化作业航向。然后建立航线调度及航次规划数学模型,并基于Google ORTools开源优化软件套件进行求解。对比不同航线组合调度策略下的作业效果,以及考虑消耗品补给时的ORTools 5种优化搜索策略算法与无人机沿航向方向等面积划分算法的作业优化效果。针对4组假想田块和真实田块的算例仿真试验表明,该算法能够有效地实现多田块在满足各种约束条件下的多机协同路径规划,算法耗时70~552 s,相比于等面积划分算法,航线间转移路径总长度下降24.86%~47.10%。

    Abstract:

    A complete set of path optimization algorithm solution for cooperative operation of multiple UAVs is proposed to figure out the path planning problem of multiple agricultural UAVs under the condition of multiple fields with obstacles. Taking the minimum transfer path length as the goal of operation optimization,the initial coverage operation route with horizontal heading conditions was calculated based on the polygon scanning and filling algorithm,and the safety boundary intersection test of the dangerous transfer process between routes was carried out. The course of operations of each single field was optimized with “minimum span method” of convex polygon and “step rotation method”of nonconvex polygon. The mathematical models for route scheduling and voyage planning were established,and the solution was obtained based on the open source optimization software suite of Google ORTools. The operation effects of different route combination scheduling strategies and the effects of operation optimization of the five optimized searching strategy algorithms of Google ORTools and the equal area partition algorithm of UAV along the heading direction were compared. The simulation results of four sets of hypothetical and real fields showed that the algorithm effectively achieved multiple cooperative UAVs path planning under various constraints and took 70552 s. Compared with the equal area partition algorithm,the optimal results for the total length of the transfer path decreased 24.86%47.10%.

    参考文献
    相似文献
    引证文献
引用本文

唐灿,宗望远,黄小毛,罗承铭,李文成,王绍帅.农用无人机多机多田块作业路径规划算法[J].华中农业大学学报,2021,40(5):

复制
分享
文章指标
  • 点击次数:
  • 下载次数:
  • HTML阅读次数:
  • 引用次数:
历史
  • 收稿日期:2021-04-12
  • 最后修改日期:
  • 录用日期:
  • 在线发布日期: 2021-09-29
  • 出版日期: