Research on Path Planning of Mobile Robot for Unstructured Environment of Facility Agriculture
Aiming at the problems of path planning for mobile robots in unstructured environment,such as many turning points,low movement efficiency and real-time obstacle avoidance,A path planning algorithm for mobile robots was proposed based on improved A∗algorithm and dynamic window method(DWA).Firstly,the heuristic function of A∗algorithm is optimized,and the dynamic weight coefficient w(n)is in-troduced for the estimated generation value to improve the search efficiency of the path planning algorithm.Then,the global path is smoothed based on gradient descent algorithm and SG filtering algorithm.Finally,on the basis of global path planning,DWA algorithm is introduced to improve the global path planning abil-ity and real-time obstacle avoidance ability of mobile robots.The experimental results show that the fusion algorithm has better results in improving the search efficiency of path planning,smoothing the path curve,dynamic real-time obstacle avoidance and so on.
NETL
NSTL
万方数据
维普
