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当前位置: 首页 > 文章 > 基于GNSS的农田平整自动导航路径规划方法 农业机械学报 2016,47 (1) 21-29
Position: Home > Articles > Automatic Navigation Path Planning Method for Land Leveling Based on GNSS Transactions of the Chinese Society for Agricultural Machinery 2016,47 (1) 21-29

基于GNSS的农田平整自动导航路径规划方法

作  者：
刘刚;李笑;康熙;夏友祥;牛东岭
单  位：
中国农业大学现代精细农业系统集成研究教育部重点实验室
关键词：
农田平整;自动导航;路径规划;全球导航卫星系统
摘  要：
为了提高农田平整作业工作效率,分析了基于全球导航卫星系统(Global navigation satellite system,GNSS)的农田平整自动导航解决方案的可行性,改进了系统硬件设计,提出了一种基于GNSS的农田平整自动导航路径规划方法。该方法将全局路径规划和局部实时路径规划相结合,以铲车空载或满载时间最短为最优评价基准,融合K-均值与密度均值,聚类农田栅格;根据设计的铲车挖高填低方法和局部搜索策略得到平地路径全局规划,在实际作业中根据拉力传感器反映的实时载荷进行局部调整和规划。通过仿真试验和农田路径规划平地对比试验分析表明,最大高度差从22.8 cm降到2.7 cm,平整度从12.6 cm降到1.5 cm,高差分布列从81%上升到97%,平整效果能满足精细灌溉需求。该方法能够较好地实现路径规划,实现拖拉机高效平地作业,其中铲车的满载和空载率较其他方法小,满载和空载率总和在20%左右,增加了有效工作时间,降低了人工劳作强度,提高了平地效率。
译  名：
Automatic Navigation Path Planning Method for Land Leveling Based on GNSS
作  者：
Liu Gang;Li Xiao;Kang Xi;Xia Youxiang;Niu Dongling;Key Laboratory of Modern Precision Agriculture System Integration Research,Ministry of Education,China Agricultural University;Key Laboratory of Agricultural Information Acquisition Technology,Ministry of Agriculture,China Agricultural University;
关键词：
land leveling;;automatic navigation;;path planning;;global navigation satellite system
摘  要：
In order to improve the efficiency of GNSS( global navigation satellite system) controlled land leveling system,the feasibility of automatic GNSS-controlled land leveling system was discussed. A path planning algorithm for automatic GNSS-controlled land leveling system was proposed. Firstly the hardware design on early foundation was improved and the tension acquisition module was designed as well as correcting it,which provided data for later path planning. In this method,the global path planning and local real-time path planning were combined to forklift-load or full load the shortest and the longest effective operation of the optimal evaluation,integration and density mean K-means clustering farmland grid; then according to the design of low forklift excavation high filling method and local search strategy to give ground path global planning and the actual work was carried out in accordance with local adjustment and planning tension sensor. Farmland automatic navigation ground experiment showed that the maximum elevation difference after the plane leveling went down from 22. 8 cm to 2. 7 cm and the height standard deviation of elevation dropped from 12. 6 cm to 1. 5 cm; the cumulative percentage,of which the accuracy errors were less than 5 cm,was increased from 81% to 97% after the land leveling. This method can achieve better route planning and efficient working of tractors. The full loaded rate and unloaded rate of forklift,the sum of which was about 20%,were less than those of the other methods,increasing the effective working time and providing technical support for automatic GNSS-controlled land leveling system.

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