A Pesticide Spraying Mission Allocation and Path Planning With Multicopters

This article presents a mission allocation and path-planning solution for the pesticide spraying mission of dense trees in hilly terrains using cooperative multicopters. The problem is formulated as a single-depot single-end multiple traveling salesman problem (mTSP). Three different algorithms, nam...

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Bibliographic Details
Published in:IEEE transactions on aerospace and electronic systems 2024-04, Vol.60 (2), p.2277-2291
Main Authors: Huang, Jing, Du, Baihui, Zhang, Youmin, Quan, Quan, Wang, Ban, Mu, Lingxia
Format: Article
Language:English
Subjects:
Algorithms
Collision avoidance
Genetic algorithms
Mission assignment
multicopters
multiple traveling salesman problem (mTSP)
Optimization
Path planning
Pesticides
point cloud
precision spraying
Resource management
Rotary wing aircraft
Spraying
Task analysis
Traveling salesman problem
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Summary:This article presents a mission allocation and path-planning solution for the pesticide spraying mission of dense trees in hilly terrains using cooperative multicopters. The problem is formulated as a single-depot single-end multiple traveling salesman problem (mTSP). Three different algorithms, namely classical mTSP algorithm, Grouping-TSP combined algorithm, and Grouping-TSP decoupled algorithm, are developed to solve the proposed mTSP. Simulation results indicate that the classical mTSP algorithm provides an evenly distributed task allocation while the Grouping-TSP combined algorithm delivers the optimal solution. In addition, the Grouping-TSP decoupled algorithm minimizes computational complexity. Both Grouping-TSP algorithms integrate a subregions segmentation process to guarantee collision avoidance between the multicopters.
ISSN:0018-9251
1557-9603
DOI:10.1109/TAES.2024.3355028