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A Three-Dimensional Full-Coverage Operation Path Planning Method for Plant Protection Unmanned Aerial Vehicles Based on Energy Consumption Modeling

文献类型： 外文期刊

作者： Yu, Shaomeng 1 ; Zhu, Jianxi 2 ; Shen, Jiansheng 2 ; Yang, Xin 1 ; Wang, Pengfei 1 ;

作者机构： 1.Hebei Agr Univ, Coll Elect & Mech Engn, 289 Lingyusi St, Baoding 071000, Peoples R China

2.Zhejiang Acad Agr Machinery, 1158 Zhihe Rd, Jinhua 321051, Peoples R China

关键词： plant protection unmanned aerial vehicle; path planning; hilly orchard; operational heading angle

期刊名称：ELECTRONICS （ 2022影响因子：2.9； 五年影响因子：2.9 ）

ISSN：

年卷期： 2023 年 12 卷 19 期

页码：

收录情况： SCI

摘要： With the rapid development of precision agriculture technology worldwide, plant protection unmanned aerial vehicles (UAVs) have been widely applied in the prevention and control of agricultural pests and diseases due to their advantages such as unrestricted terrain, strong maneuverability, hover capability, and high operational efficiency. In view of the fact that most of the current path planning methods for plant protection UAVs are mainly applicable to large fields with relatively flat terrain, and there is a lack of three-dimensional path planning methods applicable to hilly orchards, as well as a lack of intuitive evaluation of the advantages and disadvantages of the paths by utilizing the amount of energy consumption, this paper proposes a three-dimensional (3D) path planning method for plant protection UAVs in hilly orchards. The method utilizes the three-dimensional (3D) coordinates of the operational area obtained from a realistic 3D model of the area, and determines the 3D operational path through the use of Boustrophedon Cellular Decomposition and the height variations of the operational area. Based on the induced power used by the plant protection UAV for flight and the power needed to overcome wind resistance, combined with the change of the load of the plant protection UAV and the supply situation, the relative energy consumption model of the plant protection UAV is constructed. Then, by optimizing the operational heading angle (1-180 degrees), the 3D path with the minimum relative energy consumption is obtained. Through a simulation test, it is demonstrated that the path with the minimum relative energy consumption (operational heading angle of 133 degrees) reduces the average relative energy consumption by 62.44% and 47.21% compared to the path with the maximum relative energy consumption (operational heading angle of 51 degrees) and the average relative energy consumption, respectively. This proves the feasibility of the proposed path planning method in hilly orchard environments and provides a reference for the application of plant protection UAVs in such orchards.

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