Multi-agricultural-machine cooperative operation remote management scheduling method based on improved ant colony algorithm

Abstract

The invention relates to a multi-machine cooperative operation remote management scheduling method based on an improved ant colony algorithm. The method comprises the steps: task planning and path planning, and task planning is divided into task distribution and task sequence optimization. Firstly, according to initial task information and agricultural machinery information in a farmland operationenvironment, and according to a supply and demand matching principle of agricultural machinery and tasks, an optimal task allocation scheme is obtained by improving an ant colony algorithm; secondly,according to the optimal task allocation scheme, performing task sequence optimization on multiple tasks allocated to each agricultural machine through an improved ant colony algorithm to obtain an optimal task sequence scheme; and finally, establishing an environment map model according to the initial environment information, performing path planning through an improved ant colony algorithm according to the optimal task allocation scheme, the optimal task sequence scheme, the path cost between the dynamic and static obstacles and the task plot and the path smoothing factor, obtaining an optimal path planning scheme, and seeking a collision-free optimal path.

Description

technical field [0001] The invention relates to the field of artificial intelligence and the technical field of automatic navigation of agricultural machinery, in particular to a method for remote management and scheduling of multi-agricultural machinery cooperative operation based on an ant colony algorithm. Background technique [0002] With the development of China's agricultural intensification, scale, and industrialization, as well as the increasing demand for automatic navigation operations, the multi-machine cooperative navigation operation mode in which multiple agricultural machinery of the same or different types cooperate in the field has become the focus of agricultural machinery navigation research. [0003] At present, the operation management in regional farmland lacks efficient agricultural machinery scheduling and multi-machine collaborative operation information acquisition means and scientific decision-making methods. The dispatching supply and demand info...

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Problems solved by technology

[0006] In the multi-machine cooperative task assignment based on the basic ant colony algorithm, the heuristic function of the transition probability is only related to the distance, which leads to the problem of "nearest" in the planning results. However, in the actual farmland operation, task assignment is a multi-constraint condition. In addition to ensuring that the path cost is as small as possible, it is also necessary to consider the operation cycle and the working capacity of agricultural machinery, etc.

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