Multi-Task Timing Assignment Algorithm for Intelligent Production of Vegetables in Open Field  

作　　者：Huarui Wu Huaji Zhu Jingqiu Gu Wei Guo Ning Zhang Xiao Han 

机构地区：[1]National Engineering Research Center for Information Technology in Agriculture,Beijing 100097,China [2]Information Technology Research Center,Beijing Academy of Agriculture and Forestry Sciences,Beijing 100097,China [3]Key Laboratory of Digital Village Technology,Ministry of Agriculture and Rural Affairs,Beijing 100097,China

出　　处：《Journal of Beijing Institute of Technology》2023年第3期352-362,共11页北京理工大学学报（英文版）

基　　金：supported by the Science and Technology Innovation 2030-“New Generation Artificial Intelligence”Major Project(No.2021ZD0113604);China Agriculture Research System of MOF and MARA(No.CARS-23-D07)。

摘　　要：Vegetable production in the open field involves many tasks,such as soil preparation,ridging,and transplanting/sowing.Different tasks require agricultural machinery equipped with different agricultural tools to meet the needs of the operation.Aiming at the coupling multi-task in the intelligent production of vegetables in the open field,the task assignment method for multiple unmanned tractors based on consistency alliance is studied.Firstly,unmanned vegetable production in the open field is abstracted as a multi-task assignment model with constraints of task demand,task sequence,and the distance traveled by an unmanned tractor.The tight time constraints between associated tasks are transformed into time windows.Based on the driving distance of the unmanned tractor and the replacement cost of the tools,an expanded task cost function is innovatively established.The task assignment model of multiple unmanned tractors is optimized by the consensus based bundle algorithm(CBBA)with time windows.Experiments show that the method can effectively solve task conflict in unmanned production and optimize task allocation.A basic model is provided for the cooperative task of multiple unmanned tractors for vegetable production in the open field.

关 键 词：VEGETABLE unmanned tractor multi-task allocation task collaboration 

分 类 号：S219[农业科学—农业机械化工程] TP18[农业科学—农业工程]