电收机器人的多目标任务分配:一个分层路线重建方法
IEEE transactions on cybernetics
|November 26, 2025
概括
这项研究引入了一种协调农业机器人的新方法,以优化收获效率. 混合层次路线重建算法 (HRRA) 有效地平衡了果园中的任务完成时间和能源使用.
科学领域:
- 农业机器人农业机器人
- 运营研究 运营研究
- 人工智能的人工智能
背景情况:
- 劳动力成本的上升推动了农业多机器人系统的采用.
- 协调果园收获的多机器人系统在平衡产量和能源消耗方面面临着挑战.
- 现实世界的限制,如可变速度和电池限制,使机器人任务分配变得复杂.
研究的目的:
- 定义多目标农业多电机器人任务分配 (AMERTA) 问题,并纳入实际约束.
- 开发一种有效的算法,以优化农业收获中的多机器人协调.
- 提高自动收获系统的效率和能源管理.
主要方法:
- 农业多电机器人任务分配 (AMERTA) 问题的制定.
- 开发一种混合层次路线重建算法 (HRRA).
- 在HRRA中集成层次编码,双相初始化,任务顺序优化和专业路线重建操作员.
主要成果:
- 与七个最先进的算法相比,HRRA在45个测试实例中表现出更高的性能.
- 统计分析证实了HRRA的竞争力及其探索新型解决方案空间的能力.
- 该算法有效地解决了多机器人任务分配中的复杂约束.
结论:
- 拟议的HRRA为农业自动化中的AMERTA问题提供了有效的解决方案.
- 这项研究推动了对多机器人协调的理论理解.
- 这些发现为提高自动化果园收获效率提供了实际见解.
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