摘要
为了规划出更加高效的植保无人机路径,提出一种基于改进蚁群算法的植保无人机路径规划方法,该方法适用于多个具有复杂多边形边界与内部障碍物的三维作业区域。采用扫描方式生成水平面内的作业路径,经过离散化处理后,在三维地形曲面上插值,获得三维作业路径。在此基础上,建立作业路径生成算法,以三维作业路径总长度尽量短、作业路径数量尽量少为目标,对植保无人机作业航向进行寻优。改进蚁群算法通过附加记录作业路径进入点的机制,实现对三维作业路径的合理排序,生成总长度较短的转移路径。经过算例检验,针对同一作业区域规划出的三维作业路径与水平面内的作业路径的航向角存在较大差异,相差最大为92°,这说明考虑三维地形的必要性。算例中,将改进的蚁群算法与贪婪算法进行了对比,针对一系列相同的作业起点,改进的蚁群算法所得的转移路径总长度均较短,比贪婪算法所得结果缩短3%~28%;在未选定作业起点情况下,改进的蚁群算法与贪婪算法求得的转移路径总长度最小值分别为1661 m与1763 m,说明改进的蚁群算法具有良好的寻优能力。实例检验情况与算例所得结论基本一致。算例与实例中的作业区域边界与地形复杂,涵盖情况全面,表明本文提出的路径规划方法具有一定实用性。
In order to obtain a reasonable and efficient sprayer UAV’s path in geometrically complex farmland,a new path planning approach was proposed based on the improved ant colony optimization.The 3D spray paths were first built up by discretizing the parallel scan lines inside the boundary and interpolating on the 3D terrain surface.A spray path generation algorithm was then designed to find a set of shortest and least spray paths with the optimized heading.Secondly,the ant colony optimization was improved to sort the 3D spray with the objective of getting the shortest transfer paths after adding the new function of recording starting point of each spray path.Furthermore,the prospered path planning approach was tested with the example.Different headings were calculated in the same farmland depending on whether the 3D terrain was considered,which illustrated the necessity of the 3D terrain in path planning problems of sprayer UAV.The improved ant colony optimization was compared with the greedy algorithm.Aiming at the shortest transfer paths,the two algorithms were used to sort the same set of spray paths.The total lengths of the transfer paths calculated by the improved ant colony optimization were 3%to 28%shorter than those results calculated by the greedy algorithm under the conditions of the same selected starting point.The minimum values obtained by the improved ant colony optimization and the greedy algorithm were 1661 m and 1763 m,respectively.The actual application was basically consistent with the trends and situations shown by the example,which showed the better optimization performance of the improved ant colony optimization.In addition,the boundaries and terrain of the two farmlands in the example and practical application were complex enough to indicate that the proposed path planning approach had practicality.
作者
王宇
王文浩
徐凡
王泾涵
陈海涛
WANG Yu;WANG Wenhao;XU Fan;WANG Jinghan;CHEN Haitao(College of Engineering,Northeast Agricultural University,Harbin 150030,China)
出处
《农业机械学报》
EI
CAS
CSCD
北大核心
2020年第11期103-112,92,共11页
Transactions of the Chinese Society for Agricultural Machinery
基金
现代农业产业技术体系建设专项资金项目(CARS-04)
国家重点研发计划项目(2018YFD0201004)。
关键词
植保无人机
路径规划
三维地形
蚁群算法
sprayer UAV
path planning
3D terrain
ant colony optimization