矩形边界条件下农机作业方向平行路径的排序优化  

Sequence optimization of direction parallel path for the agricultural vehicles in field of rectangle boundary

作　　者：黄小毛[1] 付正坤[1] 丁幼春[1] 王建勇[2] 黎煊[1] 

机构地区：[1]华中农业大学工学院,武汉430070 [2]华中农业大学理学院,武汉430070

出　　处：《华中农业大学学报》2014年第4期130-136,共7页Journal of Huazhong Agricultural University

基　　金：国家自然科学基金项目(51205150);教育部博士点新教师基金项目(20110146120007);浙江大学CAD&CG国家重点实验室开放课题(A1211)

摘　　要：针对矩形边界地形条件下的方向平行路径,在考虑多种可能地头转弯策略、不同作业模式的农艺要求和机具自身转弯特性的情况下,利用计算机技术寻求最优的行作业任务调度排序策略,以尽可能减少机器的地头转向距离和时间,减少作业总消耗。首先,在分析现有常用转弯策略生成原理的基础上,提出2种新型转弯策略。然后,将调度排序问题转化成旅行商问题(traveling salesman problem,TSP),并采用贪婪算法进行求解。仿真试验结果表明,采用的贪婪算法高效稳定,与常用习惯调度排序策略相比,机器转弯效率得到显著提高。Computer technology is increasingly used in the path planning and the optimization of ag ricultural machineryPs field operation. In this paper, the optimal path sequence strategies to minimize the total operating length and time of the vehiclers headland turning are introduced, taking into consider- ation of the direction of the parallel paths in fields of rectangle boundary, a variety of possible strategies of headland turning, the agronomic requirements of different operating modes and the turning character- istics of machineries. First two kinds of new turning strategies were put forward after the analysis of the generation principle of the existing turning strategies. Then the scheduling problem was formulated into the traveling salesman problem （TSP）, and the greedy search algorithm was utilized to address it. Simulation experimental results showed that the algorithm is efficient and robust, and the turning efficiency is significantly improved compared to the commonly used scheduling and sorting strategies.

关 键 词：农业车辆 作业路径 离线规划 转弯方式 排序优化 

分 类 号：S232.3[农业科学—农业机械化工程] TP319[农业科学—农业工程]