Multi-Task Timing Assignment Algorithm for Intelligent Production of Vegetables in Open Field

作     者：Huarui Wu Huaji Zhu Jingqiu Gu Wei Guo Ning Zhang Xiao Han Huarui Wu;Huaji Zhu;Jingqiu Gu;Wei Guo;Ning Zhang;Xiao Han

作者机构：National Engineering Research Center for Information Technology in AgricultureBeijing 100097China Information Technology Research CenterBeijing Academy of Agriculture and Forestry SciencesBeijing 100097China Key Laboratory of Digital Village TechnologyMinistry of Agriculture and Rural AffairsBeijing 100097China 

出 版 物：《Journal of Beijing Institute of Technology》 (北京理工大学学报（英文版）)

年 卷 期：2023年第32卷第3期

页      面：352-362页

核心收录：

学科分类：02[经济学] 0202[经济学-应用经济学] 0903[农学-农业资源与环境] 0901[农学-作物学] 

基　　金：supported by the Science and Technology Innovation 2030-“New Generation Artificial Intelligence”Major Project(No.2021ZD0113604) China Agriculture Research System of MOF and MARA(No.CARS-23-D07)。 

主　　题：vegetable unmanned tractor multi-task allocation task collaboration 

摘      要：Vegetable production in the open field involves many tasks,such as soil preparation,ridging,and transplanting/sowing.Different tasks require agricultural machinery equipped with different agricultural tools to meet the needs of the operation.Aiming at the coupling multi-task in the intelligent production of vegetables in the open field,the task assignment method for multiple unmanned tractors based on consistency alliance is studied.Firstly,unmanned vegetable production in the open field is abstracted as a multi-task assignment model with constraints of task demand,task sequence,and the distance traveled by an unmanned tractor.The tight time constraints between associated tasks are transformed into time windows.Based on the driving distance of the unmanned tractor and the replacement cost of the tools,an expanded task cost function is innovatively established.The task assignment model of multiple unmanned tractors is optimized by the consensus based bundle algorithm(CBBA)with time windows.Experiments show that the method can effectively solve task conflict in unmanned production and optimize task allocation.A basic model is provided for the cooperative task of multiple unmanned tractors for vegetable production in the open field.