基于改进粒子群算法的高地隙无人喷雾机对不规则凸田块的全覆盖作业路径规划

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中图分类号：S232 文献标志码：A 文章编号：1001-411X（2025）03-0390-09

Complete coverage path planning irregular convex field for the high clearance unmanned sprayer based on improved particle swarm optimizer algorithm

LIUGuohai，WANYalian，SHENYue，LIUHui，HE Siwei，ZHANGYafei （ ， ， ， ）

Abstract： 【Objective】 In order to meet the application requirements autonomous navigation full-coverage operation high clearance unmanned sprayers optimize the efficiency agricultural machine operation. 【Method】 A complete coverage traversal path planning algorithm for irregular convex fields was proposed. Firstly，an boundary contour model irregularly convex field was obtained based on the boundary data farml area. Secondly，on the basis the traditional U-turn patern，the angle between the operation rows the field boundaries was introduced to elaborate the principles articulated paths between the operation rows in detail. After generating complete coverage operation rows with rom direction angles by parallel line fset from the straight line passing through the center point the iregular convex region， the direction angles the operation rows were optimized by the improved particle swarm optimizer （PSO） algorithm， the field traversal complete coverage working paths were generated. Finally， the algorithm was tested through simulations on four typical real-world fields. 【Result】 Compared with traditional path planning algorithms， the proposed algorithm reduced the total traversal distance by 9.01， 23.25， 8.71 1 4 . 3 2 m in fields 1 to 4， respectively. The reduction rates the number turns were 1 1 . 1 % 6 1 . 5 % ， 1 6 . 7 % 5 . 3 % ， while the additional coverage rates decreased by 0.20， 0.96， 0.45 1.96 percentage points，respectively. These improvements effectively reduced the energy consumption unmanned agricultural machinery enhanced operational eficiency. 【Conclusion】 Under the premise complete coverage for the operation area， the proposed algorithm can generate operation paths for unmanned agricultural machinery with shorter travel distances， higher coverage rates fewer turns. This providesa theoretical support for the development path planning technology for unmanned agricultural machinery.

Key words： Unmanned agricultural machinery; Complete coverage path planning; Route planning; Particle swarn optimizer （PSO） algorithm; Irregular conver field; High clearance unmanned sprayer

农业机械路径规划是智慧农业中基础且重要的支撑技术，结合农艺要求和机械性能生成的导航路径，可显著提升农业生产方式标准化和规范化，促进智慧农业的高效生产[1]。（剩余12660字）