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Simulation Study on Coverage Path Planning of Autonomous Tasks in Hilly Farmland Based on Energy Consumption Model

机译:基于能耗模型的丘陵农田自主任务覆盖路径规划仿真研究

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摘要

The hilly farmland in China is characterized by small farmland areas and dense farmland distribution, and the working environment is three-dimensional topographic farmland, so the working conditions in the field are relatively complex. In this working environment, the coverage path planning technique of a farmland autonomous task is harder than that of 2D farmland autonomous task. Generally, the path planning problem of 2D farmland is to construct the path cost model to realize the planning of agricultural machinery driving route, while for the path planning problem of three-dimensional terrain farmland in the hilly region, this paper proposes a covering path planning scheme that meets the requirements of autonomous work. Based on the energy consumption model, the scheme searches the optimal driving angle of agricultural machinery, prioritizes solutions to the problem of covering path planning within the scattered fields in the working area, and then searches through the genetic algorithm for the optimal order of traversing the paths of each field to complete the coverage path planning in the working area. On the one hand, the scheme optimizes the planning route in the fields from the angle of optimal energy consumption; on the other hand, through the genetic algorithm, the fields are connected in an orderly manner, which solves the comprehensive problems brought by the unique agricultural environment and farming system in China’s hilly areas to the agricultural machinery operation. The algorithm program is developed according to the research content, and a series of simulation experiments are carried out based on the program using actual farmland data and agricultural machinery parameters. The results show that the planned path obtained at the cost of energy consumption has a total energy consumption of 4771897.17J, which is 17.4% less energy consumption than the optimal path found by the path cost search; the optimization effect is evident.
机译:丘陵农田在中国的特点是小型农田面积和密集的农田分布,工作环境是三维地形农田,所以在该领域的工作条件比较复杂。在这种工作环境,一个覆盖路径规划技术的农田自主任务比2D的困难农田自主任务。一般情况下,2D的路径规划问题农田建设的路径成本模式,实现农业机械行驶路线的规划,而在丘陵地区三维地形农田的路径规划问题,本文提出了一个覆盖路径规划方案满足的自主工作的要求。基于能耗模型,该计划搜索最佳驾驶农业机械的角度,优先通过遗传算法遍历的最优顺序以在工作区域覆盖散射场中的路径规划问题的解决方案,然后搜索每个字段的路径来完成工作区域覆盖路径规划。在一方面,该方案优化了从最佳的能量消耗的角度领域的规划路线;在另一方面,通过遗传算法,字段连接有序,解决了在中国的丘陵地区独特的农业生态环境和农业系统带来的农业机械作业的综合性问题。该算法程序根据研究内容开发等一系列的仿真实验是基于使用实际数据农田和农业机械参数的程序进行。结果表明,在能量消耗的成本获得的规划路径具有4771897.17J,这是17.4%以下的能量消耗比由路径成本搜索找到的最佳路径的总能量消耗;优化效果明显。

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