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Route planning method for pesticide application aided by multiple unmanned aerial vehicles

A multi-UAV, path planning technology, applied in the directions of road network navigators, measuring devices, instruments, etc., can solve problems such as the inability to complete precision agricultural spraying tasks, and achieve excellent multi-machine collaborative path planning results, high The effect of execution efficiency

Active Publication Date: 2017-07-21
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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Problems solved by technology

[0009] In order to solve the technical problems raised by the above-mentioned background technology, the present invention aims to provide a path planning method for multi-UAV cooperative pesticide application, based on the dual optimization scheme of GA and SA combination, and on the basis of the optimization scheme, it provides The coordinated flight route of multiple agricultural drones solves the technical problem that the use of general agricultural machinery cannot better complete the task of spraying pesticides in precision agriculture

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  • Route planning method for pesticide application aided by multiple unmanned aerial vehicles
  • Route planning method for pesticide application aided by multiple unmanned aerial vehicles
  • Route planning method for pesticide application aided by multiple unmanned aerial vehicles

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Embodiment Construction

[0046] The technical solutions of the present invention will be described in detail below in conjunction with the accompanying drawings.

[0047] Generally speaking, the spraying tools carried by agricultural drones have a certain spraying width and can cover crops within this width at the same time. In the following description, the area covered by the unmanned aerial vehicle without changing its course is called "sub-area". parallel subregions. In order to avoid redundant spraying operations, each sub-area can only be covered by one of the drones during the spraying task.

[0048] In order to solve the problem of multi-machine collaborative path planning in precision agriculture, firstly, the task area is divided into multiple parallel sub-areas according to the determined UAV course and the spraying width of the UAV; secondly, different optimized The standard (flight distance, input cost and consumption time) establishes the objective function of combined optimization, an...

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Abstract

The invention discloses a route planning method for pesticide application aided by multiple unmanned aerial vehicles. The method comprises the following steps: determining the course and spraying width of the unmanned aerial vehicles and dividing a pesticide application area into a plurality of parallel sub-areas accordingly; then determining optimization standards and constraint conditions and accordingly establishing a target function for the route of pesticide application aided by the multiple unmanned aerial vehicles; and optimizing the established target function by using an optimization method which integrates genetic algorithm and simulated annealing algorithm into one so as to eventually obtain an optimal flight route for the unmanned aerial vehicles. According to the invention, the dual optimization scheme of a combination of GA and SA is employed, and the route for coordinated flight of the multiple unmanned aerial vehicles is provided on the basis of the optimization scheme, so the technical problem that common agricultural machines cannot accurately accomplish pesticide application in agriculture is overcome.

Description

technical field [0001] The invention belongs to the task-oriented technology in precision agriculture and machine learning, and in particular relates to a path planning method for multi-UAV collaborative pesticide application. Background technique [0002] At present, the pesticide application task in precision agriculture is mainly completed by manual or mechanical equipment. Compared with traditional manual spraying and mechanical equipment spraying, agricultural drone spraying has many advantages: low operating height, less drift, hovering in the air, no need for a special take-off and landing airport, and the downward airflow generated by the rotor has a It helps to increase the penetration of the mist flow to the crops, the control effect is good, and the remote control operation can avoid the danger of spraying operators from being exposed to pesticides, and improve the safety of spraying operations. Unmanned helicopter spraying technology can save at least 50% of pes...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/34
CPCG01C21/3446
Inventor 韩伟黄大庆徐诚杨鹭怡
Owner NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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