基于改进A*算法的农用无人机路径规划  

Agricultural UAV path planning based on improved A*algorithm

作　　者：田茹 曹茂永[1,2] 马凤英 纪鹏[2] TIAN Ru;CAO Maoyong;MA Fengying;JI Peng(Shandong University of Science and Technology,Qingdao 266590,China;Qilu University of Technology(Shandong Academy of Sciences),Jinan 250353,China)

机构地区：[1]山东科技大学,山东青岛266590 [2]齐鲁工业大学(山东省科学院),山东济南250353

出　　处：《现代电子技术》2022年第4期182-186,共5页Modern Electronics Technique

基　　金：山东省重大科技创新项目(2019JZZY010731)。

摘　　要：为保证农用无人机作业时能更加精确、高效和节能地完成任务,文中提出一种基于改进A*算法的路径规划方法。根据农用无人机的固定参数以及工作区域的形状、面积等信息建立环境模型,以农用无人机作业角度和路径规划运行时间为优化目标,综合考虑农用无人机作业距离、多余覆盖率和遗漏率等因素,采用改进A*算法实现对农业无人机作业区域的全局最优规划。仿真实验结果表明,通过改进A*算法路径规划得出的结果,相较于未规划以及差分量子退火算法规划情况各参数指标均有改进。在设定的不含障碍物的工作区域,农用无人机初始路径搜索时间分别减少7.12 s和6.79 s,总飞行距离分别减少163.83 m和93.54 m,农药多余覆盖率分别减少3.75%和0.04%;在设定的包含障碍物的工作区域,农用无人机初始路径搜索时间分别减少8.52 s和8.14 s,总飞行距离分别减少203.19 m和132.90 m,农药多余覆盖率分别减少3.31%和0.53%。说明文中算法具有很好的实用性和可行性。A path planning method based on improved A*algorithm is proposed to ensure that the agricultural UAV(unmanned aerial vehicle)can complete the task more accurately,efficiently and energy⁃savingly.The environmental model is established according to the fixed parameters of agricultural UAV and the shape and area of working region.The operation angle and running time of path planning of the agricultural UAV are taken as the optimization objectives,and the improved A*algorithm is adopted to achieve the global optimal planning of the operating area of agricultural UAV by comprehensively considering its operation distance,redundant coverage rate and omission rate.The simulation results show that the various parameter indexes of the path planning based on improved A*algorithm are better than those of the unplanned and differential quantum annealing algorithms.In the set working region without obstacles,the initial path search time of agricultural UAV is reduced by 7.12 s and 6.79 s respectively,the total flight distance is reduced by 163.83 m and 93.54 m respectively,and the excess pesticide coverage rate is reduced by 3.75%and 0.04%respectively.In the set working region,with obstacles,the initial path search time of agricultural UAV is reduced by 8.52 s and 8.14 s,respectively,the total flight distance is reduced by 203.19 m and 132.90 m,respectively,and the excess pesticide coverage rate is reduced by 3.31%and 0.53%,respectively,which indicates that the proposed algorithm has good practicability and feasibility.

关 键 词：农用无人机 路径规划 改进A*算法 自主飞行 仿真实验 障碍物设定 路径搜索 

分 类 号：TN820.4-34[电子电信—信息与通信工程] S225[农业科学—农业机械化工程]