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.


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    Title :

    A Pesticide Spraying Mission Allocation and Path Planning With Multicopters


    Contributors:
    Huang, Jing (author) / Du, Baihui (author) / Zhang, Youmin (author) / Quan, Quan (author) / Wang, Ban (author) / Mu, Lingxia (author)


    Publication date :

    2024-04-01


    Size :

    3710886 byte




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English



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