{"title":"Development of an Improved KOA Algorithm for Solving Task Allocation in Hilly Orchards With Weeding Robots","authors":"Xiaolin Xie;Hang Jin;Heng Wang;Man Xu;Cheng Zhang;Xin Jin;Zhihong Zhang","doi":"10.1109/ACCESS.2025.3548162","DOIUrl":null,"url":null,"abstract":"Multi-machine collaboration in agricultural machinery is a key focus in current research, with task allocation being an indispensable component. However, the current optimization objectives for task allocation in agricultural machinery are mostly confined to travel distance or time, aiming to balance task distribution. These methods are not suitable for emerging electric agricultural machinery, especially when operating in hilly areas. To address these limitations, this study proposed a task allocation method optimized for energy consumption, specifically for weeding robots in hilly orchards. Initially, drones were employed to obtain the Digital Surface Model (DSM) and orthophotos of the orchard test area. After processing the data through vegetation filtering, DEM construction, and slope analysis, slope information of the surface was derived. An electronic map of the orchard reflecting this slope information was then generated. Subsequently, the task allocation problem for weeding robots in hilly orchards was defined. A mathematical model was then established with energy consumption as the optimization objective. Finally, a Golden Kepler Optimization Algorithm (GKOA) was developed and tested through simulations using real data from the test area. The results indicated that, compared to Particle Swarm Optimization (PSO), Sparrow Search Algorithm (SSA), Whale Optimization Algorithm (WOA), and Kepler Optimization Algorithm (KOA), GKOA reduced the optimal solution cost by 10.3%, 8.2%, 7.0%, and 4.5%, respectively. This task allocation method was able to achieve the optimal task allocation plan with lower travel energy consumption costs and a higher balance in task distribution, whether for all plots in the orchard or nested plots.","PeriodicalId":13079,"journal":{"name":"IEEE Access","volume":"13 ","pages":"44184-44195"},"PeriodicalIF":3.4000,"publicationDate":"2025-03-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=10910132","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"IEEE Access","FirstCategoryId":"94","ListUrlMain":"https://ieeexplore.ieee.org/document/10910132/","RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q2","JCRName":"COMPUTER SCIENCE, INFORMATION SYSTEMS","Score":null,"Total":0}
Development of an Improved KOA Algorithm for Solving Task Allocation in Hilly Orchards With Weeding Robots
Multi-machine collaboration in agricultural machinery is a key focus in current research, with task allocation being an indispensable component. However, the current optimization objectives for task allocation in agricultural machinery are mostly confined to travel distance or time, aiming to balance task distribution. These methods are not suitable for emerging electric agricultural machinery, especially when operating in hilly areas. To address these limitations, this study proposed a task allocation method optimized for energy consumption, specifically for weeding robots in hilly orchards. Initially, drones were employed to obtain the Digital Surface Model (DSM) and orthophotos of the orchard test area. After processing the data through vegetation filtering, DEM construction, and slope analysis, slope information of the surface was derived. An electronic map of the orchard reflecting this slope information was then generated. Subsequently, the task allocation problem for weeding robots in hilly orchards was defined. A mathematical model was then established with energy consumption as the optimization objective. Finally, a Golden Kepler Optimization Algorithm (GKOA) was developed and tested through simulations using real data from the test area. The results indicated that, compared to Particle Swarm Optimization (PSO), Sparrow Search Algorithm (SSA), Whale Optimization Algorithm (WOA), and Kepler Optimization Algorithm (KOA), GKOA reduced the optimal solution cost by 10.3%, 8.2%, 7.0%, and 4.5%, respectively. This task allocation method was able to achieve the optimal task allocation plan with lower travel energy consumption costs and a higher balance in task distribution, whether for all plots in the orchard or nested plots.
IEEE AccessCOMPUTER SCIENCE, INFORMATION SYSTEMSENGIN-ENGINEERING, ELECTRICAL & ELECTRONIC
CiteScore
9.80
自引率
7.70%
发文量
6673
审稿时长
6 weeks
期刊介绍:
IEEE Access® is a multidisciplinary, open access (OA), applications-oriented, all-electronic archival journal that continuously presents the results of original research or development across all of IEEE''s fields of interest.
IEEE Access will publish articles that are of high interest to readers, original, technically correct, and clearly presented. Supported by author publication charges (APC), its hallmarks are a rapid peer review and publication process with open access to all readers. Unlike IEEE''s traditional Transactions or Journals, reviews are "binary", in that reviewers will either Accept or Reject an article in the form it is submitted in order to achieve rapid turnaround. Especially encouraged are submissions on:
Multidisciplinary topics, or applications-oriented articles and negative results that do not fit within the scope of IEEE''s traditional journals.
Practical articles discussing new experiments or measurement techniques, interesting solutions to engineering.
Development of new or improved fabrication or manufacturing techniques.
Reviews or survey articles of new or evolving fields oriented to assist others in understanding the new area.