Study on field path planning based on novel A* algorithm
In view of the fact that the traditional A* algorithm could not meet the specific scene requirements that the spray robot needed to generate the operation path according to the crop distribution in the farmland,a new A* algorithm based on the traditional A* algorithm was proposed to improve and re-optimize its heuristic function.Firstly,a new heuristic function term was added to the traditional A* algorithm to change the calculation rules of the path point generation value.The guidance algorithm was more inclined to select the path points with obstacles on both sides to meet the needs of agricultural robots to travel along the obstacles on both sides.Then,aiming at the problem of path detour and repetition in the path planning of the newly improved A* algorithm when the obstacle distance was large,the path judgment function term was introduced,and the trigger conditions of different path cost function calculation rules were set according to the distance between adjacent obstacles to intelligently select the appropriate cost function formula.The guidance algorithm was more inclined to select the path point in the middle position when the distance between the obstacles on both sides was large,so as to further improve the operation efficiency of the agricultural robot.Finally,the simulation results showed that the algorithm could accurately select the best path and achieve the expected effect.
agricultural robotpath planningA* algorithmimprovement and reoptimization
NETL
NSTL
万方数据
