Abstract
Automated large-scale farmland preparation operations face significant challenges related to path planning efficiency and uniformity in resource allocation. To improve agricultural production efficiency and reduce operational costs, an enhanced method for planning land preparation paths is proposed. In the initial stage, unmanned aerial vehicles (UAVs) are employed to collect data from the field, which is then used to construct accurate farm models. For single-field operations, a path planning approach is developed that minimizes energy consumption. The approach combines the selection of optimal operational angles with the implementation of efficient turning strategies, aiming to achieve full coverage. In addressing the issue of scheduling multiple machines across multiple fields, a two-stage optimization method, referred to as the BNSGA-III algorithm, is introduced. This algorithm integrates the NSGA-III algorithm with Beluga Whale Optimization (BWO), adaptive parameter adjustment, and Adaptive Inversion Crossover (AIC). The proposed method tackles the inherent complexity of agricultural environments, balancing operational efficiency and resource allocation through multi-objective optimization. Experimental results demonstrate that, compared to random operation directions, the proposed method reduces the path length by 1.9% to 3.1%, decreases the turning frequency by 19.5% to 24.0%, and improves coverage by 1.0% to 1.4%. In the context of multi-machine scheduling, the BNSGA-III algorithm outperforms the NSGA-II, NSGA-III, and MOEA/D algorithms, achieving improvements in total travel distance (12.3% to 34.4%), path balance (60.9% to 66.2%), and workload distribution (78.7% to 92.9%). Further evaluation shows that BNSGA-III excels in key metrics such as convergence (IGD), solution quality (HV), and diversity (Spread), thereby confirming its superiority in solution quality, convergence, and diversity. The findings of this study provide strong support for the advancement of intelligent agriculture.