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凸多边形田块下油菜联合直播机组作业路径规划

Path Planning of Rapeseed Combine Seeder in Field of Convex Boundary

  • 摘要: 针对无人农场场景下油菜联合直播机组自动导航自主作业需求,提出一套对凸多边形边界田块具有普适性的油菜联合直播作业路径规划算法。在拟定油菜直播作业对路径规划算法基本要求的基础上,将作业区域分成内部方向平行作业区与外围轮廓平行作业区,对应方向平行作业路径和轮廓平行作业路径;进一步将作业路径分为工作路径和非工作路径,对后者包括的行间转移衔接路径、区域衔接路径、拐角衔接路径、进入路径和退出路径等的生成原理进行详细阐述,通过"最小跨度法"得到方向平行路径最优作业方向,通过贪婪算法与Google OR-Tools对方向平行路径行调度次序进行排序优化。综合考虑作业路径总长度、算法耗时和重漏面积等指标,针对油菜联合直播机组免少耕和旋耕播种作业,以东方红-LX804型拖拉机+2BFQ-6型免耕直播机等机组为对象,对比测试了4个实际典型田块下不同作业参数、地头转弯策略和调度策略下的算法性能。测试结果表明,规划所得路径对应的油菜播种作业面积覆盖率大于等于95.14%,重播率小于等于2.63%,有效工作路径占比大于等于57.39%,算法耗时小于等于8 003 ms,算法稳定高效,满足油菜联合直播作业对路径规划的基本要求。

     

    Abstract: Aiming to automatic guidance operation of the combined direct seeding unit for rapeseed in the scene of unmanned farm, a generally applicable path planning algorithm for rapeseed direct seeding operation in convex polygon boundary field was put forward. Based on the basic requirements of path planning algorithm for rapeseed direct seeding operation, the operation area was divided into internal direction parallel operation area and external contour parallel operation area, which were called direction parallel operation path and contour parallel operation path. The operation path was further divided into working path and non-working path, and the generated principles of the latter, including interline connection path, area connection path, corner connection path, entry path and exit path were introduced in detail. The optimal operation direction of the direction parallel path was obtained by minimum span method, and the operation sequence of the direction parallel path was optimized by greedy algorithm or Google OR-Tools. Considering the complete length of operation path, algorithm time consuming, repeated and missed area, aiming at the no-tillage or rotary tillage seeding operation of the combined direct seeding unit for rapeseed, taking Dongfanghong-LX804 tractor + 2 BFQ-6 no-tillage direct seeder and other units as the object, the performance of algorithm was tested in four convex polygon boundary fields with different operation parameters, ground turning strategies and scheduling strategies. The test results showed that the coverage of rapeseed was more than or equal to 95.14%, the repeat rate was less than or equal to 2.63%, and the percentage of effective working path was more than or equal to 57.39%, the algorithm took time less than or equal to 8 003 ms, which was proved stable and efficient, and satisfied the basic requirements of path planning for rape direct seeding operation.

     

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