基于自主作业的农业机械动态路径规划方法研究  

Research on Dynamic Path Planning Method for Agricultural Machinery Based on Autonomous Operation

作　　者：张绍雷 孙友强 张俊卿 俞鹏飞 黄河[2,3] ZHANG Shaolei;SUN Youqiang;ZHANG Junqing;YU Pengfei;HUANG He(College of Electronic and Information Engineering,Anhui Jianzhu University,Hefei 230601,China;Hefei Institutes of Physical Science,Chinese Academy of Sciences,Hefei 230031,China;Anhui Zhongke Intelligent Sensing Technology Co.,Ltd.,Wuhu 241000,China)

机构地区：[1]安徽建筑大学电子与信息工程学院,安徽合肥230601 [2]中国科学院合肥物质科学研究院,安徽合肥230031 [3]安徽中科智能感知科技股份有限公司,安徽芜湖241000

出　　处：《仪表技术》2024年第4期49-54,共6页Instrumentation Technology

基　　金：国家重点研发计划项目资助(2021YFD200060102)。

摘　　要：针对无人农场中农机从下田点到初始作业位置以及从终止作业位置到下田点的自主行驶需求,提出了基于自主作业的农业机械动态路径规划方法。该方法将农机行驶路径明确划分为工作路径和非工作路径,并深入阐述了非工作路径中进入路径和退出路径的生成原理。为验证该方法的可行性,选取了4个典型的凸多边形地块进行了实际测试。实验结果表明,所规划的路径完全满足农机自主进入和退出地块的要求,确保了农机在无人农场中的高效、自主作业。A dynamic path planning method for agricultural machinery based on autonomous operation is proposed to meet the autonomous driving requirements of agricultural machinery from the field entry point to the initial operation posi-tion and from the termination operation position to the field entry point in unmanned farms.This method clearly divides the driving path of agricultural machinery into working and non-working paths,and elaborates in depth on the generation principles of entry and exit paths in non-working paths.To verify the feasibility of this method,four typical convex poly-gon plots were selected for practical testing.The experimental results show that the planned path fully meets the require-ments for agricultural machinery to enter and exit the plot independently,ensuring efficient and autonomous operation of agricultural machinery in unmanned farms.

关 键 词：无人农场 自主作业 农业机械 下田点 进入路径 退出路径 动态路径规划 

分 类 号：TP18[自动化与计算机技术—控制理论与控制工程]