农业机械化中的智能调度与路径规划算法研究
摘 要
随着现代农业的发展，农业机械化已成为提高农业生产效率和质量的重要手段。然而，传统的农业机械调度和路径规划方式往往依赖于人工经验，难以实现高效的资源分配和路径优化。特别是在复杂多变的农田环境中，农业机械的调度和路径规划面临着诸多挑战。本研究旨在通过构建智能调度系统架构，优化多机协同作业调度模型，以及研究复杂地形下的路径规划算法，为农业机械的智能化调度和路径规划提供理论和技术支持。本研究针对农业机械化中的智能调度与路径规划问题，构建了农业机械智能调度系统架构，并深入研究了基于改进A*算法的路径规划方法。通过构建多机协同作业调度模型，实现了农业机械在复杂农田环境下的高效调度。同时，针对复杂地形和动态环境，提出了路径优化策略和实时避障与重规划机制。通过系统仿真平台构建和典型作业场景测试分析，验证了所提算法的有效性和可行性。
关键词：农业机械；智能调度；路径规划
RESEARCH ON INTELLIGENT SCHEDULING AND PATH PLANNING ALGORITHM IN AGRICULTURAL MECHANIZATION
ABSTRACT
With the development of modern agriculture, agricultural mechanization has become an important means to improve the efficiency and quality of agricultural production. However, the traditional agricultural machinery scheduling and path planning methods often rely on manual experience, and it is difficult to achieve efficient resource allocation and path optimization. Especially in the complex and changeable farmland environment, the scheduling and path planning of agricultural machinery are facing many challenges. The purpose of this study is to provide theoretical and technical support for the intelligent scheduling and path planning of agricultural machinery by constructing the intelligent scheduling system architecture, optimizing the multi-machine cooperative operation scheduling model, and studying the path planning algorithm in complex terrain. In this study, we solve the problem of intelligent scheduling and path planning in agricultural mechanization, construct the intelligent scheduling system architecture of agricultural machinery, and study the path planning method based on improved A * algorithm. By constructing a multi-machine cooperative operation scheduling model, the efficient scheduling of agricultural machinery in the complex farmland environment is realized. At the same time, the path optimization strategy and real-time obstacle avoidance and replanning mechanism are put forward for the complex terrain and dynamic environment. The effectiveness and feasibility of the proposed algorithm are verified through the construction of the system simulation platform and the test analysis of typical operation scenarios.
KEY WORDS：Agricultural machinery; intelligent scheduling; path planning
目 录
摘 要 I
ABSTRACT II
第1章 绪论 1
1.1 研究背景及意义 1
1.2 研究现状 1
第2章 农业机械智能调度系统架构设计 2
2.1 智能调度系统总体框架 2
2.2 多机协同作业调度模型 2
2.3 动态环境下的调度策略优化 3
第3章 农业机械路径规划算法研究 4
3.1 基于改进A*算法的路径规划方法 4
3.2 复杂地形下的路径优化策略 4
3.3 实时避障与重规划机制 5
第4章 智能调度与路径规划系统实现与验证 6
4.1 系统仿真平台构建 6
4.2 典型作业场景测试分析 6
4.3 系统性能评估与优化建议 7
第5章 结论 8
参考文献 9
致 谢 10
摘 要
随着现代农业的发展，农业机械化已成为提高农业生产效率和质量的重要手段。然而，传统的农业机械调度和路径规划方式往往依赖于人工经验，难以实现高效的资源分配和路径优化。特别是在复杂多变的农田环境中，农业机械的调度和路径规划面临着诸多挑战。本研究旨在通过构建智能调度系统架构，优化多机协同作业调度模型，以及研究复杂地形下的路径规划算法，为农业机械的智能化调度和路径规划提供理论和技术支持。本研究针对农业机械化中的智能调度与路径规划问题，构建了农业机械智能调度系统架构，并深入研究了基于改进A*算法的路径规划方法。通过构建多机协同作业调度模型，实现了农业机械在复杂农田环境下的高效调度。同时，针对复杂地形和动态环境，提出了路径优化策略和实时避障与重规划机制。通过系统仿真平台构建和典型作业场景测试分析，验证了所提算法的有效性和可行性。
关键词：农业机械；智能调度；路径规划
RESEARCH ON INTELLIGENT SCHEDULING AND PATH PLANNING ALGORITHM IN AGRICULTURAL MECHANIZATION
ABSTRACT
With the development of modern agriculture, agricultural mechanization has become an important means to improve the efficiency and quality of agricultural production. However, the traditional agricultural machinery scheduling and path planning methods often rely on manual experience, and it is difficult to achieve efficient resource allocation and path optimization. Especially in the complex and changeable farmland environment, the scheduling and path planning of agricultural machinery are facing many challenges. The purpose of this study is to provide theoretical and technical support for the intelligent scheduling and path planning of agricultural machinery by constructing the intelligent scheduling system architecture, optimizing the multi-machine cooperative operation scheduling model, and studying the path planning algorithm in complex terrain. In this study, we solve the problem of intelligent scheduling and path planning in agricultural mechanization, construct the intelligent scheduling system architecture of agricultural machinery, and study the path planning method based on improved A * algorithm. By constructing a multi-machine cooperative operation scheduling model, the efficient scheduling of agricultural machinery in the complex farmland environment is realized. At the same time, the path optimization strategy and real-time obstacle avoidance and replanning mechanism are put forward for the complex terrain and dynamic environment. The effectiveness and feasibility of the proposed algorithm are verified through the construction of the system simulation platform and the test analysis of typical operation scenarios.
KEY WORDS：Agricultural machinery; intelligent scheduling; path planning
目 录
摘 要 I
ABSTRACT II
第1章 绪论 1
1.1 研究背景及意义 1
1.2 研究现状 1
第2章 农业机械智能调度系统架构设计 2
2.1 智能调度系统总体框架 2
2.2 多机协同作业调度模型 2
2.3 动态环境下的调度策略优化 3
第3章 农业机械路径规划算法研究 4
3.1 基于改进A*算法的路径规划方法 4
3.2 复杂地形下的路径优化策略 4
3.3 实时避障与重规划机制 5
第4章 智能调度与路径规划系统实现与验证 6
4.1 系统仿真平台构建 6
4.2 典型作业场景测试分析 6
4.3 系统性能评估与优化建议 7
第5章 结论 8
参考文献 9
致 谢 10
