农机化研究2025，Vol.47Issue(7)：240-244,5.DOI:10.13427/j.issn.1003-188X.2025.07.036
基于A∗算法的采摘机器人路径规划研究
Path Planning of Picking Robot Based on A∗ Algorithm
摘要
Abstract
Path planning is an important factor affecting the efficiency of harvesting robots.Reasonable planning of har-vesting paths enables harvesting robots to quickly and safely reach the harvesting area,effectively improving harvesting ef-ficiency.This paper deeply studied the A∗ algorithm,and applied it to the path planning research of the picking robot,established the kinematics mathematical model of the picking robot,optimized the operation process of the A∗algorithm,and completed the path planning simulation experiments of the picking robot in different environments by building a map environment and using the method of expanding the node search neighborhood,to verify the feasibility and effectiveness of the A∗ algorithm in the path planning application of the picking robot.The results showed that the path planning of the picking robot based on A∗ algorithm was reasonable,with high search efficiency,short path length,and high smooth-ness.It can shorten the time for the picking robot to reach the target area,improve the working efficiency of the picking robot,and achieve the expected goals.关键词
采摘机器人/路径规划/A∗算法/节点搜索/运动学建模Key words
picking robot/path planning/A∗ algorithm/node search/kinematics modeling分类
农业科技引用本文复制引用
高焕超..基于A∗算法的采摘机器人路径规划研究[J].农机化研究,2025,47(7):240-244,5.基金项目
河南省科技攻关项目(232102210082) （232102210082）
