多架次作业植保无人机最小能耗航迹规划算法研究  

Path Planning Based on Minimum Energy Consumption for Plant Protection UAVs in Sorties

作　　者：徐博[1] 陈立平[2,3] 谭彧[1] 徐旻[2,3] 

机构地区：[1]中国农业大学工学院,北京100083 [2]农业智能装备技术北京市重点实验室,北京100097 [3]北京农业智能装备技术研究中心,北京100097

出　　处：《农业机械学报》2015年第11期36-42,共7页Transactions of the Chinese Society for Agricultural Machinery

基　　金：国家高技术研究发展计划(863计划)资助项目(2012AA101901);北京市科技计划资助项目(D151100001215003);北京市农林科学院国际合作基金资助项目(GJHZ2015-7)

摘　　要：利用栅格法对工作区域进行划分,快速得到往复遍历式植保无人机的作业路径,在以作业架次数最少为约束条件的情况下,研究了一种多架次返航路线规划算法,合理地分配了各架次的喷药量和返航点,使无人机的工作总能耗最小,降低了无人机在非作业情况下无效消耗能量,提高了作业效率。仿真结果表明,在同等作业条件下,在一块210 m×200 m的矩形作业区域,采用本算法进行航迹规划,相比于仅以药液耗尽为返航依据的航迹规划,能耗节省率达到了12.89%,而且作业面积越大,能量节省效果越明显,通过田间对比试验,进一步证明了算法的可行性。According to back-to-back traversal of plant protection UAV, a kind of working area decomposing method based on grid method was used to extract the UAV working path. A route planning algorithm with the minimum return number was proposed in order to reduce the ineffective energy consumption in non-operate situation. The spraying amount and return points of the sorties were reasonably allocated to improve operational efficiency. The simulation results show that using this algorithm in an area of 15 600 m2 , compared to the return route in the liquid exhaustion situation, energy consumption of the UAV was reduced by 5.99% ; while in an area of 42 000 m2 , energy consumption of the UAV was even reduced by 12.89%. When the operation area was larger, the energy-saving effect was more obvious, which proved the feasibility of route planning algorithm. Field tests in an area of 2 500 m2 proved that there were deviations between theory and practical routes. The possible reasons were GPS positioning error, wind and center of gravity in liquid. So the GPS positioning accuracy needs to be improved, and the flight control system needs to be further improved. This flight route planning algorithm was proposed for automatic UAVs in unmanned operation, thus the flight routes were set before operation, and the energy consumption of UAVs and flight sorties can be estimated in advance. Nowadays, the unmanned operation becomes a new trend, and this flight route planning algorithm can be widely used inprecision agriculture.

关 键 词：植保无人机 航迹规划 自主飞行 栅格法 多架次作业 

分 类 号：TP18[自动化与计算机技术—控制理论与控制工程]