Path planning of greenhouse electric crawler tractor based on the improved A* and DWA algorithms

IF 7.7 1区农林科学 Q1 AGRICULTURE, MULTIDISCIPLINARY

Computers and Electronics in Agriculture Pub Date : 2024-10-29 DOI:10.1016/j.compag.2024.109596

Huiping Guo , Yi Li , Hao Wang , Chensi Wang , Jiao Zhang , Tingwei Wang , Linrui Rong , Haoyu Wang , Zihao Wang , Yaobin Huo , Shaomeng Guo , Fuzeng Yang

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引用次数: 0

Abstract

To improve the intelligence level and the navigation efficiency of electric crawler tractors in facility greenhouses, this paper proposes a path planning algorithm based on the fusion of the improved A* algorithm and the DWA algorithm. The weight coefficients are integrated into the heuristic function of the A* algorithm, the key point selection strategy is improved, and the second-order Bessel curves are used to smooth the path trajectories. Besides, the DWA algorithm is integrated, and the key point of global paths planned by the improved A* algorithm is taken as an interpolation point. This addresses the issue that the traditional A* algorithm needs to search many nodes and has a low computational efficiency, with many path turning points and unsmooth paths. The results of simulation experiments proved that the improved A* algorithm is less time-consuming and obtains more smoother path than the Dijkstra, RRT, and traditional A* algorithms. Meanwhile, tests in a facility greenhouse show that the electric crawler tractor can realize autonomous navigation and obstacle avoidance, with a maximum lateral deviation of 11.20 cm and a maximum heading deviation of 13°, which can meet the requirements of actual operation in facility greenhouses.

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基于改进的 A* 和 DWA 算法的温室电动履带拖拉机路径规划

为提高设施温室电动履带拖拉机的智能化水平和导航效率，本文提出了一种基于改进型 A* 算法和 DWA 算法融合的路径规划算法。在 A* 算法的启发式函数中集成了权重系数，改进了关键点选择策略，并使用二阶贝塞尔曲线平滑路径轨迹。此外，还集成了 DWA 算法，并将改进后的 A* 算法规划的全局路径的关键点作为插值点。这就解决了传统 A* 算法需要搜索很多节点，计算效率低，路径转折点多，路径不平滑的问题。仿真实验结果证明，改进后的 A* 算法比 Dijkstra 算法、RRT 算法和传统 A* 算法耗时更短，获得的路径更平滑。同时，在设施温室中的测试表明，电动履带拖拉机可以实现自主导航和避障，最大横向偏差为 11.20 厘米，最大航向偏差为 13°，可以满足设施温室实际作业的要求。

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来源期刊

Computers and Electronics in Agriculture 工程技术-计算机：跨学科应用

CiteScore

15.30

自引率

14.50%

发文量

800

审稿时长

62 days

期刊介绍： Computers and Electronics in Agriculture provides international coverage of advancements in computer hardware, software, electronic instrumentation, and control systems applied to agricultural challenges. Encompassing agronomy, horticulture, forestry, aquaculture, and animal farming, the journal publishes original papers, reviews, and applications notes. It explores the use of computers and electronics in plant or animal agricultural production, covering topics like agricultural soils, water, pests, controlled environments, and waste. The scope extends to on-farm post-harvest operations and relevant technologies, including artificial intelligence, sensors, machine vision, robotics, networking, and simulation modeling. Its companion journal, Smart Agricultural Technology, continues the focus on smart applications in production agriculture.