摘要
在进行大规模农田作业时,农业机械及其行走路线的选择不能再依靠传统经验。为实现精准农业及提高农机作业效率、降低作业成本,采用模拟退火算法进行农机作业路径优化,并改进模拟退火算法,提出一种基于多普勒与贪心策略模拟退火算法,从矩形农田、梯形农田、不同农机三方面对农机作业路径进行优化,并与贪心算法优化结果进行对比。试验结果表明,相比贪心算法,SA算法和SADG算法均能找到更优的农机作业路径,同时SADG算法较SA算法优化性能及寻优效率更高;在矩形农田中,SA算法和SADG算法平均优化性能比贪心算法提高均超过8%;在梯形农田中,随着作业角β增大,SA算法和SADG算法农机作业路径优化性能呈递增趋势,平均优化性能比贪心算法提高均超过9%;在不同农机参数下(作业幅宽w,最小转弯半径r),当2r/w>2时,随着农机最小转弯半径的增大,优化性能呈递减趋势,SA算法和SADG算法平均优化性能比贪心算法提高了9%左右。该研究为优化农机作业路径、提高农机作业效率、降低农机作业成本提供了一种更加高效、可行的方法。
In large-scale field operations,the selection of agricultural machine and its working routes cannot rely on traditional experience any longer.In order to realize precision agriculture,improve the working efficiency of agricultural machine,reduce the operation cost of agricultural machine,the total turning distance traveled should be minimized,the optimization of agricultural machinery operation path was implemented by simulated annealing algorithm(SA),meanwhile,an improved simulated annealing algorithm based on Doppler and greedy strategy(SADG)is proposed,the optimization implemented by SA and SADG from the point of rectangular farmlands,trapezoidal farmlands and agricultural machines.Experimental results showed that,compared with the results of greedy algorithm,SA algorithm and SADG algorithm could find better agricultural machine operation path,and SADG algorithm had higher optimization performance and optimization efficiency than SA algorithm;When agriculture machine worked in rectangular farmlands,the average total turning distance optimized by SA algorithm and SADG algorithm was reduced over 8%more than by the greedy algorithm;When agriculture machine worked in trapezoidal farmlands,with the increase of operation angleβ,the optimization performance of SA algorithm and SADG algorithm increased,and the average total turning distance was reduced over 9%compared to greedy algorithm;When worked in the above rectangular farmlands and trapezoidal farmlands with different agricultural machine parameters(operation width w,minimum turning radius r),if 2r/w>2,with the increase of minimum turning radius,the optimization performance of the SA algorithms increased,and the average total turning distance was reduced about 9%compared to the greedy algorithm.The research not only can provide a more efficient and more feasible approach for optimizing agricultural machine operation path,improving the efficiency of agricultural machinery operation and reducing the operating cost of agricultural machinery,and provide technical support for automatic navigation of agricultural machine.
作者
姚竟发
刘静
张璠
滕桂法
Yao Jingfa;Liu Jing;Zhang Fan;Teng Guifa(School of Mechanical and Electrical Engineering,Hebei Agricultural University,Baoding,071000,China;Division of Foundational Teaching,Baoding University of Technology,Baoding,071000,China;School of Information Science and Technology,Hebei Agricultural University,Baoding,071000,China;Institute for Smart Farm Machines of Hebei,Baoding,071000,China)
出处
《中国农机化学报》
北大核心
2020年第4期130-137,共8页
Journal of Chinese Agricultural Mechanization
基金
河北省自然科学基金项目(G2018204093)
河北省高等学校科学技术研究项目(BJ2018012)。
关键词
车辆路由问题
作业效率
作业成本
转弯距离
模拟退火
vehicle routing problem
operational efficiency
operational cost
turning distance
simulated annealing
