Dynamic job allocation method of multiple agricultural machinery cooperation based on improved ant colony algorithm

Contemporary large-scale and systematic agricultural operations demand the collaborative efforts of multiple agricultural machines with distinct functionalities. However, the failure of a single agricultural machine during collaborative operations jeopardizes the entire undertaking. To address this challenge, this paper proposes a multi-machine collaborative dynamic job allocation method based on the improved ant colony algorithm. Initially, the improved ant colony algorithm is employed to determine the optimal solution for harvester scheduling. This solution is then fed into the data conversion algorithm to acquire the necessary unloading point information for transport vehicle scheduling. Subsequently, the improved ant colony algorithm is once again utilized to optimize the transport vehicle scheduling. In cases of agricultural machinery failure or changes in the operating environment, two distinct methods are employed based on the situation. The first involves double-layer rescheduling of both harvester and transport vehicles, while the second employs single-layer rescheduling exclusively for the transport vehicles, yielding the respective rescheduling results. The outcomes demonstrate that the proposed solution method effectively identifies the current optimal scheduling plan for both the harvester and transport vehicle in the event of malfunctions. Moreover, under the premise that the unproductive waiting time of the harvester is reduced to zero, and the number of transport vehicles is minimized, it achieves the minimization of operating time cost and transportation cost. This method exhibits significant potential for seamless integration into the practical application of unmanned farms, providing a foundation for addressing scheduling and management challenges in multi-agricultural machinery collaborative operations within complex farmland operating environments.