华南农业大学学报2024，Vol.45Issue(3)：408-415,8.DOI:10.7671/j.issn.1001-411X.202305030
基于改进APF-FMT*的农业机器人路径规划算法
Path planning algorithm of agricultural robot based on improved APF-FMT*
摘要
Abstract
[Objective]The study is aimed to address the issue of lengthy global path planning of agricultural robot in complex agricultural environment and the path solution is not optimal.[Method]A fast marching tree algorithm based on an improved artificial potential field method(APF-FMT*)was proposed.Firstly,relative distance was introduced in the gravitational potential field,adjusting the strength of attraction based on the distance from the target point.This overcomed the issue of excessive attraction force in the artificial potential field method when the distance to the target point was too far.The FMT* algorithm was combined with the improved artificial potential field method,and a third order B-spline curve was used to smooth the path.Finally,three agricultural working maps were created for simulation experiments.[Result]APF-FMT* was compared with FMT*,RRT*,and Informed-RRT* algorithms.The simulation results demonstrated that in maps Map1 and Map2,APF-FMT* consistently found good solutions quickly,and the path solutions were improved with an increasing number of samples.The search time reduced by over 45%compared with the other three algorithms.In Map3 with narrow channels,the search times of APF-FMT* and FMT* reduced by more than 75%compared with RRT* and Informed RRT*,and better solutions were obtained.[Conclusion]The proposed APF-FMT* algorithm based on the improved artificial potential field method not only overcomes the issue of redundant exploration in the FMT* algorithm,but also effectively solves the problem of unreachable target points in the artificial potential field method.This algorithm improves the efficiency and safety of path planning for agricultural robots.关键词
路径规划/农业机器人/人工势场法/FMT*算法Key words
Path planning/Agricultural robot/Artificial potential field method/FMT* algorithm分类
信息技术与安全科学引用本文复制引用
张亚莉,莫振杰,田昊鑫,兰玉彬,王林琳..基于改进APF-FMT*的农业机器人路径规划算法[J].华南农业大学学报,2024,45(3):408-415,8.基金项目
岭南现代农业实验室项目(NT2021009) （NT2021009）
高等学校学科创新引智计划(D18019) （D18019）
广东省重点领域研发计划(2019B020221001) （2019B020221001）
广东省科技计划(2018A050506073) （2018A050506073）
