基于梯田环境下的植保无人机航迹规划算法研究

Path Planning Based on Terraced Fields for Plant Protection UAVs in Sorties

利用栅格法构建作业地图,采用外螺旋法获得遍历式作业航线,以能耗最小为目标,兼顾药剂喷洒宽度、每架次喷洒药剂总量及合理的返航坐标等内容,研究了梯田环境下植保无人机的多架次航线规划算法。仿真结果表明,在相同作业环境下,本算法具有整体航线短、作业区域覆盖率高、能耗节省明显等特点。

This paper studies the multi-sortie route planning algorithm of plant protection UAV in terraced field environment.The grid method is used to construct the operation graph,and the outer spiral method is used to obtain the traversal operation route.The route was optimized with the minimum energy consumption as the objective function and the constraint conditions of the spraying width,the total amount of spraying agents and the return coordinates.The simulation results show that the algorithm has the characteristics of short overall route,high coverage of work area and obvious energy saving.