Path planning for orchard spraying robot based on improved A* and APF algorithms
Aiming at the problems of low coverage,rate poor smoothness of operating path in hilly mountainous areas,and weak obstacle avoidance ability of orchard spraying robot,a path planning algorithm that integrates improved A* algorithm and artificial potential field(APF)is proposed. A global path planning is realized by optimizing the A* algorithm valuation function,introducing intermediate nodes and non-uniform cubic spline interpolation method. Obstacle avoidance ability of the APF method is improved by modifying the attractive potential field function and integrating simulated annealing algorithm. The global path critical points are extracted as sub-target points and the APF algorithm is used for secondary planning. The results show that the fusion algorithm ensures the global optimum and smoothness of path planning and dynamic obstacle avoidance is realized.
orchard spraying robotA* algorithmartificial potential field methodpath planning algorithmfusion algorithm
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