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.
关键词
果园喷雾机器人/A*算法/人工势场法/路径规划算法/融合算法
Key words
orchard spraying robot/A* algorithm/artificial potential field method/path planning algorithm/fusion algorithm
万方数据