计算机技术与发展2026，Vol.36Issue(1)：170-177,8.DOI:10.20165/j.cnki.ISSN1673-629X.2025.0212
基于改进RRT Star算法的农机路径规划
Path Planning for Agricultural Robots Based on Improved RRT Star Algorithm
摘要
Abstract
Aiming at the problems of low efficiency,high randomness,long search time,too many iterations,and lengthy planned paths in the path planning algorithm for agricultural machinery,an improved algorithm based on RRT Star is proposed.Firstly,the proposed algorithm establishes the target orientation determination criterion to achieve sampling space optimization.Secondly,the weight dynamic step adjustment function is introduced into the improved algorithm to make the expansion process goal-oriented,and the CantmullRom in-terpolation function is used to smooth the paths,and the simulation environment is simulated according to the farmland road conditions,and the performance of the RT Star algorithm,the RRT algorithm,the RRT algorithm with multi-strategy fusion and the proposed algorithm is tested respectively.Under the three simulation environments,the average generation time,average number of iterations,and average number of nodes of the proposed algorithm are improved by 44.1%,33.3%,and 37.4%,respectively,compared with the RRT algorithm,26.6%,21.2%,and 17.8%,compared with the RRT algorithm with multi-strategy fusion,and 16.9%,19.0%,and 14.1%,respectively,compared with the RRT algorithm with multi-strategy fusion.The experimental results show that the proposed algorithm has high execution efficiency and success rate in agricultural machine path planning.关键词
路径规划/快速扩展随机树/动态步长/RRT Star/CantmullRom插值法Key words
path planning/fast expanding random tree/dynamic step size/RRT Star/CantmullRom Interpolation分类
信息技术与安全科学引用本文复制引用
李想,张海峰,白涛,魏建宝,蔡晓锦..基于改进RRT Star算法的农机路径规划[J].计算机技术与发展,2026,36(1):170-177,8.基金项目
新疆维吾尔自治区重大科技专项(2022A02011-4) （2022A02011-4）
科技部科技创新2030重大项目(2022ZD0115800) （2022ZD0115800）
新疆维吾尔自治区高校基本科研业务费科研项目(XJEDU2022J009) （XJEDU2022J009）
