A three-dimensional path planning method for fig seedling patrol unmanned aerial vehicle

Abstract

This invention provides a three-dimensional path planning method for a drone used for fig seedling patrol, relating to the field of agricultural production and operation management technology. The method includes: acquiring planning parameters; establishing a three-dimensional path planning model for the patrol drone based on the planning parameters; the three-dimensional path planning model being a problem model with the objective of finding the set of drone service paths that minimizes the total cost of the patrol management system; and solving the three-dimensional path planning model using a variable neighborhood search algorithm with a utilization rate evaluation mechanism to obtain the final set of drone service paths. The utilization rate evaluation mechanism is used to calculate the utilization rate index of each candidate drone service path generated by the variable neighborhood search algorithm, and to filter and guide neighborhood movement operations for the generated candidate drone service paths based on the utilization rate index. This improves the feasibility, safety, and economic benefits of patrol management in fig planting environments.

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