Fig 1.
Farm land preparation operation scheduling plan.
Fig 2.
Schematic diagram of the technical framework for agricultural machinery path planning and task allocation.
Fig 3.
Huaxing Farm field annotation (circle mark О indicates the location of the entrance/exit).
Table 1.
Partial field data of Huaxing Farm.
Fig 4.
Different operating angles θ = 90°, θ = 180°.
Fig 5.
Common turning methods.
Fig 6.
MTSP route planning diagram standard MTSP, multi-objective optimized MTSP.
Fig 7.
NSGA-III algorithm flow chart.
Fig 8.
Beluga Whale Optimization algorithm flow chart.
Fig 9.
Schematic diagram of AIC operation.
Fig 10.
Agricultural field path planning diagram.
Table 2.
Planning data for different plots.
Fig 11.
Iteration curves for agricultural machines with different machine numbers (3, 4, 5, and 6 machines).
Fig 12.
HV curves for agricultural machines with different machine numbers (3, 4, 5, and 6 machines).
Fig 13.
IGD curves for agricultural machines with different machine numbers (3, 4, 5, and 6 machines).
Fig 14.
Spread curves for agricultural machines with different machine numbers (3, 4, 5, and 6 machines).
Table 3.
Algorithm comparison.