Research On Path Planning Method Of Collaborative Operation For Automatic Driving Of Agricultural Machinery

With the rapid development of intelligent agriculture,multi-machine collaborative operation of agricultural machinery will be beneficial to improve production efficiency in the process of large-scale production in the field.However,the path planning of multimachine collaborative operation still has problems such as imperfect optimization objectives and low efficiency.In this paper,a U-shaped and bow-shaped turning path selection strategy is proposed based on the regular farmland.A path planning method of sub-region and fullregion multi-machine collaborative operation is designed,and field verification experiments are carried out.The main research contents and results are as follows:（1）By comparing and analyzing the field operation mode and turning path of agricultural machinery,it is confirmed that U-shaped and bow-shaped turning paths have better comprehensive effect in multi-machine collaborative operation,and the selection strategy of agricultural machinery turning path is formulated according to the working width and minimum turning radius of agricultural machinery.Based on the shortest path principle,the mathematical model of traveling salesman problem（TSP）and multiple traveling salesman problem（MTSP）is established,and the heuristic algorithm for solving TSP is studied,which provides theoretical and methodological basis for the research of path planning method of agricultural machinery collaborative operation.（2）Taking the regular farmland as the operation scenario and taking the total length of the turning path and the total turning time as the optimization objectives,a sub-region path planning model of multi-machine collaborative operation based on TSP is established,and the model is solved by simulated annealing algorithm and ant colony algorithm based on MATLAB.Combined with whether the operation path includes fishtail-shaped turning path,the path planning experiments of 3 and 4 agricultural machinery are studied in 18 rows of farmland.Taking the operation index of agricultural machinery and algorithm efficiency as the evaluation standards,the performance and optimization effect of different algorithms are analyzed.（3）Taking the regular farmland as the operation scenario and taking the total length of the turning path,the total turning time and the operation balance as the optimization objectives,the path planning model of full-region multi-machine collaborative operation based on MTSP is established,and the path planning algorithm of full-region multi-machine collaborative operation（PPAFRMMCO）is designed.The path planning experiments of 3 and 4 agricultural machinery were studied in 18 rows of farmland based on MATLAB,and the planning results of PPAFRMMCO,simulated annealing algorithm and ant colony algorithm were compared and analyzed.At the same time,the planning results of PPAFRMMCO,path planning algorithm of sub-region multi-machine collaborative operation,multi-machine traditional row-by-row operation and single machine operation are compared and analyzed.The results show that the path optimization effect of PPAFRMMCO is remarkable.（4）The field verification test was carried out to compare and analyze the operation indexes of multi-machine traditional row-by-row operation,single-machine operation and PPAFRMMCO planning path.The results show that the indexes of agricultural machinery field operation are basically consistent with the simulation results,and the real path optimization effect of PPAFRMMCO is remarkable.