Table 2 Parameters and their values involved in the improved ant colony optimization algorithm.

Maximum load capacity of the scraper \(V_{{{\text{max}}}}\)/\(m^{3}\)

2.5

Weight coefficient of the inter-regional operation path optimization function \(\omega _{1}\)

0.6

Weight coefficient of the inter-regional operation path optimization function \(\omega _{2}\)

0.4

Pheromone weight factor \(\alpha\)

2

Heuristic function weight factor \(\beta\)

4

Maximum number of iterations \(k_{{{\text{max}}}}\)/times

100

Constant \(Q_{1}\)

2

Pheromone evaporation factor \(\rho\)

0.5

Weight coefficient of pheromone evaporation factor \(\rho _{a}\)

0.95

Minimum value of pheromone evaporation factor \(\rho _{{\min }}\)

0.4

Pheromone intensity coefficient \(Q\)

10

Upper limit of the pheromone \(\tau _{{{\text{max}}}}\)

45

Lower limit of the pheromone \(\tau _{{\min }}\)

2

Weight coefficient of the full-field precision operation path optimization function \(\upsilon _{1}\)

0.3

Weight coefficient of the full-field precision operation path optimization function \({\mathcal{V}}_{2}\)

0.4

Weight coefficient of the full-field precision operation path optimization function \({\mathcal{V}}_{3}\)

0.3