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- Title
改进A*和DWA算法的果园喷雾机器人路径规划.
- Authors
陆向龙; 吴春笃; 杨官学; 张 波; 陈 振
- Abstract
In the operation process of orchard spray robot, path planning, as the core problem of orchard spray robot, has the problems of low smoothness of planned path, low efficiency of algorithm search and close to obstacles. Aiming at the problem of orchard spray robot avoiding dynamic obstacles in real time and planning a better global operation path in complex orchard environment, a path planning algorithm for orchard spray robot based on improved A* algorithm and dynamic window approach (DWA) is proposed. Firstly, the heuristic function of A* algorithm is optimized, so that the algorithm can plan a path in the center line of fruit trees. Then, by adding multiple guiding points to the grid map, the A* algorithm is guided to complete the preliminary global path planning of the orchard. Finally, combined with DWA algorithm to track the initial global path and avoid dynamic obstacles in real time, the global path planning of orchard spray robot is completed. MATLAB is used for simulation verification. The experimental results show that the improved algorithm plans the center line path between orchard rows while avoiding obstacles. The path is smooth and better, which can meet the operation requirements of orchard spray robot in complex environment.
- Subjects
POTENTIAL field method (Robotics); GRIDS (Cartography); TRACKING algorithms; FRUIT trees; SEARCH algorithms; SCHEDULING
- Publication
Journal of Computer Engineering & Applications, 2023, Vol 59, Issue 18, p323
- ISSN
1002-8331
- Publication type
Article
- DOI
10.3778/j.issn.1002-8331.2208-0003