多旋翼授粉无人机的作业航迹规划

目前果园存在劳动人口老龄化、人工辅助授粉劳动效率低和缺乏数字化精准管理的现状。为了缓解这一现状,本研究首先阐述了多旋翼授粉无人机的前期关键技术准备,包括授粉父本花药的优化组合、花药的商业化存储等。然后,针对单机多旋翼授粉无人机存在的花粉喷洒均匀性差的问题,给出了花粉精准喷洒作业的多旋翼授粉无人机的集群实施策略;在无人机集群编队目标位置分配、回避碰撞和集群队列区域路径规划等核心技术的基础上,设计了多旋翼授粉无人机的自动作业航迹规划技术。最后,在Matlab环境下,实现3单元多旋翼授粉无人机集群授粉的虚拟仿真。多旋翼授粉无人机将为构建智慧农业生态无人农场的精准化种植,提供超前一步的理论探索和可行性应用方案。

Trajectory Planning of Multiple Unmanned Aerial Vehicles for Pollination

The aging of workforce, the low efficiency of artificial pollination and the lack of digital and precise management are current situation of orchards. In order to solve these problems, firstly, the preliminary key technical preparations of multiple unmanned aerial vehicles (multi-UAVs) for pollination were clarified, including the optimized combination of pollinating paternal anther, the commercial storage of anthers and so on. Secondly, targeting the problem of poor pollen spraying uniformity of multi-UAVs for pollination, the cluster approach of multi-UAVs for accurate pollen spraying operation was proposed. Based on target location allocation of UAVs cluster, collision avoidance and cluster queue area path planning, the automatic trajectory planning technologies of multi-UAVs for pollination were designed. Finally, the virtual simulation of 3-unit multi-UAVs for pollination was achieved in Matlab environment. Multi-UAVs for pollination will provide a step ahead theoretical exploration and feasible application scheme for the construction of intelligent, ecological and unmanned farm for precision planting.