植保多旋翼无人机在不规则区域的航迹规划  

Trajectory Planning of Multi-Rotor Unmanned Aerial Vehicles for Crop Protection in Irregular Areas

作　　者：赵瑞琳 ZHAO Ruilin(Jilin Communications Polytechnic,Changchun,Jilin Province,130000 China)

机构地区：[1]吉林交通职业技术学院,吉林长春130000

出　　处：《科技资讯》2025年第3期189-191,共3页Science & Technology Information

摘　　要：航迹规划对植保多旋翼无人机的高效作业具有重要意义。设计合理的航迹,可以最大程度地减少作业时间和能源消耗,提高作业效率和经济效益,并为植保多旋翼无人机的广泛应用打下坚实的技术基础。提出航迹规划假设,构建航迹规划模型,并引入Dubins曲线、三次B样条约束方法,分别对局部障碍物和区域障碍物进行分类避障规划。为验证上述方法的可行性,进行仿真分析研究。结果表明,在上述方法约束和航迹规划下,植保旋翼无人机在作业中可以灵活地绕过局部障碍物、区域障碍物。Trajectory planning is of great significance for the efficient operation of multi rotor unmanned aerial ve-hicles in crop protection.Designing a reasonable trajectory can minimize operational time and energy consumption,improve operational efficiency and economic benefits,and lay a solid technical foundation for the widespread appli-cation of multi rotor unmanned aerial vehicles in crop protection.The article proposes the hypothesis of trajectory planning,constructs a trajectory planning model and introduces Dubins curve and cubic B-spline constraint meth-ods to classify and avoid local and regional obstacles respectively.To verify the feasibility of the proposed methods,simulation analysis is conducted.The results show that under the constraints and trajectory planning of the proposed methods,the crop protection rot unmanned aerial vehicle can flexibly bypass local and regional obstacles during op-eration.

关 键 词：植保多旋翼无人机 不规则区域 航迹规划 三次B样条 Dubins曲线 

分 类 号：S251[农业科学—农业机械化工程] V279[农业科学—农业工程]