谢金燕, 刘丽星, 杨欣, 等. 新型苹果园内无人割草机多机协同作业路径优化算法[J]. 华南农业大学学报, 2024, 45(4): 578-587. doi: 10.7671/j.issn.1001-411X.202309010
    引用本文: 谢金燕, 刘丽星, 杨欣, 等. 新型苹果园内无人割草机多机协同作业路径优化算法[J]. 华南农业大学学报, 2024, 45(4): 578-587. doi: 10.7671/j.issn.1001-411X.202309010
    XIE Jinyan, LIU Lixing, YANG Xin, et al. A path optimization algorithm for cooperative operation of multiple unmanned mowers in modern apple orchard[J]. Journal of South China Agricultural University, 2024, 45(4): 578-587. doi: 10.7671/j.issn.1001-411X.202309010
    Citation: XIE Jinyan, LIU Lixing, YANG Xin, et al. A path optimization algorithm for cooperative operation of multiple unmanned mowers in modern apple orchard[J]. Journal of South China Agricultural University, 2024, 45(4): 578-587. doi: 10.7671/j.issn.1001-411X.202309010

    新型苹果园内无人割草机多机协同作业路径优化算法

    A path optimization algorithm for cooperative operation of multiple unmanned mowers in modern apple orchard

    • 摘要:
      目的 提高新型苹果园内多台无人割草机协同作业时的工作效率。
      方法 提出一种改进的遗传算法(Improved genetic algorithm, IGA),为每台割草机分配并优化作业路径。根据实际无人割草机作业情况,以总转弯时间和作业时长为综合优化目标,构建无人割草机多机作业路径优化模型。通过设定任务阈值,引入改良圈策略和Metropolis准则改进遗传算法(Genetic algorithm, GA)以求解模型。
      结果 仿真试验结果表明,IGA为每台割草机分配的任务量均衡,与GA相比,IGA优化后的矩形果园路径总转弯时间和作业时长分别平均减少22.89%和19.36%;与分区作业相比,IGA优化后的矩形果园路径总转弯时间和作业时长分别平均减少45.53%和10.68%。此外,梯形果园中,与GA和分区作业相比,IGA也不受果树分布影响,总转弯时间分别平均减少14.38%和34.08%,作业时长分别平均减少23.71%和10.07%。
      结论 所提出的IGA性能更好,能有效优化机群的作业路径,缩短作业时长,提高作业能力。

       

      Abstract:
      Objective To improve the work efficiency of cooperative operation of multiple unmanned lawn mowers in modern apple orchard.
      Method An improved genetic algorithm (IGA) was proposed to assign and optimize the operating path for each mower. According to the actual operation of unmanned mowers, taking the total turning time and operation time as the comprehensive optimization goal, the optimization model for the operating path of multi-unmanned mower was constructed. In order to solve the model, the genetic algorithm (GA) was improved by setting task thresholds, introducing the improved circle algorithm and Metropolis criterion.
      Result Simulation experiments results showed that the IGA balanced the workload assigned to each unmanned mower. Compared with GA, the path optimized by IGA resulted in an average reduction of 22.89% and 19.36% in the total turning time and operation time, respectively, in the rectangular orchard. Compared with the partition operation, the total turning time and operation time of the path optimized by IGA were reduced by an average of 45.53% and 10.68%, respectively, in the rectangular orchard. In addition, in the trapezoidal orchard, compared with GA and partition operation, IGA was not affected by the distribution of fruit trees. The total turning time was reduced by an average of 14.38% and 34.08%, respectively, while the operation time was reduced by an average of 23.71% and 10.07%, respectively.
      Conclusion The proposed IGA performs better and can effectively optimize the operating paths of the fleet, reducing the operation duration and improving work capacity.

       

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