Collaborative Trajectory Planning for Stereoscopic Agricultural Multi-UAVs Driven by the Aquila Optimizer  

作　　者：Xinyu Liu Longfei Wang Yuxin Ma Peng Shao 

机构地区：[1]School of Computer and Information Engineering,Jiangxi Agricultural University,Nanchang,330045,China

出　　处：《Computers, Materials & Continua》2025年第1期1349-1376,共28页计算机、材料和连续体（英文）

基　　金：funded by the Jiangxi Provincial Social Science Planning Project(21GL12);Jiangxi Provincial Higher Education Humanities and Social Sciences Planning Project(GL22232);Jiangxi Province College Students’Innovation and Entrepreneurship Training Program Project(S20241041027).

摘　　要：Stereoscopic agriculture,as an advanced method of agricultural production,poses new challenges for multi-task trajectory planning of unmanned aerial vehicles(UAVs).To address the need for UAVs to perform multi-task trajectory planning in stereoscopic agriculture,a multi-task trajectory planning model and algorithm(IEP-AO)that synthesizes flight safety and flight efficiency is proposed.Based on the requirements of stereoscopic agricultural geomorphological features and operational characteristics,the multi-task trajectory planning model is ensured by constructing targeted constraints at five aspects,including the path,slope,altitude,corner,energy and obstacle threat,to improve the effectiveness of the trajectory planning model.And combined with the path optimization algorithm,an Aquila optimizer(IEP-AO)based on the interference-enhanced combination model is proposed,which can help UAVs to improve the trajectory search capability in complex operation space and large-scale operation tasks,and jump out of the locally optimal trajectory path region timely,to generate the optimal trajectory planning plan that can adapt to the diversity of the tasks and the flight efficiency.Meanwhile,four simulated flights with different operation scales and different scene constraints were conducted under the constructed real 3Dimension scene,and the experimental results can show that the proposedmulti-task trajectory planning method canmeet themulti-task requirements in stereoscopic agriculture and improve the mission execution efficiency and agricultural production effect of UAV.

关 键 词：Stereoscopic agriculture unmanned aerial vehicle MULTI-TASK interference model Aquila optimizer 

分 类 号：V279[航空宇航科学与技术—飞行器设计]