农业机械导航路径规划研究进展

导航路径规划是农业机械自动导航的关键技术，近年来被广泛应用于耕种管收自动导航生产作业过程中。本文分别从全局路径规划和局部路径规划两个角度阐述分析了农业机械导航路径规划研究现状和进展。全局路径规划着重阐述了全覆盖路径规划和全局点到点路径规划，并归纳总结了在精准作业、农业运输和农机跨地块调度等方面的研究成果和具体应用。局部路径规划重点阐述了避障路径规划和局部跟踪路径规划，由于农业作业环境的复杂性和时空变异性，局部路径规划研究的重点是算法的实时性、高效性、鲁棒性和安全性。最后指出导航路径规划技术未来的研究重点为：数据资源标准化及规划路径共享；提高环境信息感知和解析能力；增强实时动态规划性能；路径规划与农机特性相结合。

Research Progress on Navigation Path Planning of Agricultural Machinery

Navigation path planning of agricultural machinery is the key technology in automatic navigation, which has been widely used in the process of plowing, planting, managing and harvesting automatic navigation in recent years. A review of the current situation and research progress in agricultural machinery navigation path planning was presented, focusing on the global path planning and local path planning, respectively. Global path planning focused on full coverage path planning and global point-to-point path planning, and the research results and specific applications in precision operation, agricultural transportation and agricultural machinery cross plot scheduling were summarized. Local path planning focused on obstacle avoidance path planning and local tracking path planning. Due to the complexity and spatiotemporal variability of agricultural operation environment, the focus of local path planning research was real-ime, high efficiency, robustness and security of the algorithm. Finally, it is pointed that the future research focus of navigation path planning technology: standardizing and sharing of the data resource; improving of the environmental information perception and analysis; enhancing of the real-time dynamic planning; incorporating of the agricultural machinery characteristics.