具有避障功能的农机自动作业全覆盖路径规划方法

Complete Coverage Path Planning Method for Automatic Operation of Agricultural Machinery with Obstacle Avoidance Function

针对不同尺寸和类型障碍物条件下的农机车辆自动作业全覆盖路径规划问题,提出了静态全覆盖路径规划方法和路径优化方案。根据矩形田块信息、障碍物信息、农机最小转弯半径和机具宽度,自动选定作业方向、作业行距、地头转弯区域和转弯模式等参数;根据障碍物形状、高覆盖率高作业路径比的需求,对算法进行优化调整,以达到更好的作业效果。软件仿真测试结果表明:对有小矩形障碍物的田块,改进后的算法覆盖率提升了0.11%,重复率降低了0.71%;对大矩形障碍物的田块,两种分区路径的覆盖率分别为89.24%和98.08%,重复率分别为3.53%和2.84%。研究结果表明:算法提高了田块的利用率,降低了作业成本,能够有效避开大小障碍物,同时满足高覆盖率和低重复率的田间作业要求。

Aiming at the problem of complete coverage path planning for automatic operation of agricultural machinery and vehicles under different sizes and types of obstacles,this paper proposes a static complete coverage path planning method and a path optimization scheme.Operation direction,working row spacing,field turning area and turning mode were determined by rectangular field information,obstacle information,minimum turning radius of agricultural machinery and implement width,and the algorithm is optimized according to the obstacle shape and the requirement of high coverage rate and high operation path ratio to achieve better operation effect.The software simulation test results show that the optimized algorithm can improve the coverage rate by 0.11%and reduce the repetition rate by 0.71%for the fields with small rectangular obstacles.For fields with large rectangular obstacles,the coverage rates of the two types of paths are 89.24%and 98.08%respectively,and the repetition rates are 3.53%and 2.84%respectively.The research results show that the algorithm can improve the utilization rate of the field and reduce the operation cost,and can effectively deal with large and small obstacles while meeting the requirements of high coverage and low repetition rate of field operations.