基于离散人工蜂群算法的农业机器人丘陵地区农田遍历路径规划

Abstract

In this study, the discrete artificial bee colony (DABC) algorithm was proposed to plan the path of agricultural robots traversing multiple fields in hilly areas. Based on the basic ABC algorithm as the framework, the path coding method was adopted, and the discrete crossover operator, reverse operator, immune operator, and single/multi-step 2-opt operator were comprehensively used to help hired bees, observing bees, and scout bees to generate new food sources. Finally, the optimized field traversal order and the entrance and exit distribution of each field were obtained. The simulation results showed that compared with the traditional ABC algorithm, the average shortest path of the DABC algorithm proposed in this study was shortened by 1.59%, accompanied by the less iterations contributing to algorithm convergence and good ability to jump out of the local optimal solution. The simulation experiment was carried out using real field data and field operation parameters. The field traversal order and the entrance and exit distribution obtained by the proposed method can effectively reduce the length of the transfer path and its repeatability. This study exhibits superiority and feasibility in the field traversal path planning of agricultural robots in hilly areas, and the trajectory coordinates output by the algorithm can provide a path reference for large-area operations of agricultural machinery drivers or unmanned agricultural machineries.