农田作业机械路径优化方法

提出了一种面向农田作业机械的地块全区域覆盖路径优化方法。基于农田地块几何形状、作业机具参数、地头转弯模式等先验信息,将田间作业划分为不同区域,根据选择不同的路径优化目标:转弯数最少、作业消耗最小、总作业路径最短或有效作业路径比最大,计算出最优作业方向,生成最优作业路径。基于地块全区域覆盖路径优化算法,设计开发了农田作业机械的路径规划软件,并选取了4块典型的凸四边形农田地块进行作业路径规划测试。测试结果表明,最优作业方向上的路径优化目标量比其他作业方向上有显著减少;对于上述4个地块,按照不同优化目标计算所得的最优作业方向均与地块某个边的方向角相同,对于长宽比较大的地块,最长边方向通常为最优作业方向。

Optimal Path Planning for Agricultural Machinery

A kind of optimal path planning method for complete field coverage in agricultural machinery farming was described.The given convex field was decomposed into sub regions according to typical faming pattern of complete field coverage.Optimal path planning should minimize agricultural machines turns,farming time,route distance or other optimization object.According to the different purpose of path planning above,optimal travel direction could be determined based on topological features of arable lands,turns pattern in the headland and other useful information.Farming path planning software was developed by using this algorithm.The test results from four actual quadrangular fields showed that the optimization object for field operation in optimal travel direction decreased obviously compared with other directions.Each optimal travel direction in those quadrangular fields above was along any edge.Especially for a quadrangle having a larger edge ratio,the optimal travel direction was almost the longest edge.