A Path Optimization Algorithm for Multiple Unmanned Tractors in Peach Orchard Management

In order to improve the management efficiency of peach orchards, this paper considers cooperative operation scheme multiple unmanned tractors. According actual situation, constructs path planning model tractors in a standard orchard, designs objective function optimize total turning time and operating according tractor driving parameters, solves it by improving differential evolution algorithm. Aiming at premature convergence problem, permutation matrix is introduced represent paths Then, dynamic parameters are adopted make change with number iterations, elite selection strategy used eliminate redundant feasible solutions. An Adaptive Elite Differential Evolution (AEDE) algorithm suitable for multi-tractor optimization proposed. The results show that, compared traditional (Differential Evolution, DE), rectangular orchard optimized AEDE reduced 3.34% 0.87%, respectively. Compared block operation, AEDE-optimized were 37.37% 9.47%, Experiments that AEDE, which optimizes multi-tractors able reduce time.