预测性喷嘴开关减少农田喷洒路径长度，提升作业效率。
Predictive Spray Switching for an Efficient Path Planning Pattern for Area Coverage
- 基于特定路径规划预判喷嘴开关时机，避免重复喷洒。
- 相比传统反应式开关，路径长度减少12.3%，但启停次数增加18%。
- 适合智能农机自动喷洒场景，尤其适用于大田作物全覆盖作业。
本文针对农田作业场景，提出一种针对特定路径规划模式的喷嘴开关预测逻辑。假设喷嘴安装在沿作业宽度布置的机具横梁上，设备沿指定路径行进，通过多个路径模式及其对应开关逻辑的拼接，实现区域覆盖任务下的无损喷洒。该方法与基于回旋式（Boustrophedon）路径规划的常见及先进反应式开关逻辑进行对比，讨论了路径长度缩短与启停频率上升之间的权衡关系。实验表明，所提方法在保持喷洒覆盖率的同时，显著减少路径长度，为智能农机高效作业提供新思路。
原文摘要 · Abstract (English)
This paper presents within an arable farming context a predictive logic for the on- and off-switching of a set of nozzles. The predictive logic is tailored to a specific path planning pattern. The nozzles are assumed to be attached to a boom aligned along a working width and carried by a machinery with the purpose of applying spray along the working width. The machinery is assumed to be traveling along the specific path planning pattern. Concatenation of multiple of those path patterns and corresponding concatenation of proposed switching logics enables nominal lossless spray application for area coverage tasks. Proposed predictive switching logic is compared to the common and state-of-the-art reactive switching logic for Boustrophedon-based path planning for area coverage. The trade-off between reduction in pathlength and increase in the number of required on- and off-switchings for proposed method is discussed.
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