农业机械学报2026，Vol.57Issue(12)：69-79,11.DOI:10.6041/j.issn.1000-1298.2026.12.006
基于改进PF-RRT*算法的果园复杂地形下移动机器人路径规划
Path Planning for Mobile Robots in Complex Terrain of Orchards Based on Improved PF-RRT* Algorithm
摘要
Abstract
Aiming to improve the motion path planning performance of orchard autonomous mobile robots in complex terrain environments such as mountainous and hilly areas,and enhance their field operation performance,an improved PF-RRT∗(plane fitting-rapidly exploring random trees star)algorithm for the unstructured layout and undulating terrain of orchards was proposed.An adaptive sampling step size strategy was adopted,which can flexibly adjust the expansion step of the random tree in orchard environments with different obstacle densities.An adaptive goal-biased potential field-guided sampling method was employed to effectively guide the random tree to avoid obstacles and expand toward the target point.In addition,a terrain evaluation function was introduced during the expansion of the random tree.The terrain slope,sparsity,and roughness were comprehensively evaluated through plane fitting technology,ensuring the passability and safety of the planned path in complex terrain.Finally,cubic spline interpolation and Gaussian process regression were used to smooth and optimize the path.In the simulation environment,compared with the RRT∗,Q-RRT∗,and original PF-RRT∗ algorithms,the proposed improved PF-RRT∗ algorithm reduced the trajectory deviation by 46.97%,the path length by 7.64%,and the planning time by 23.58%;meanwhile,its success rate and obstacle avoidance performance were superior to those of the comparison algorithms.Field tests in real orchard rows showed that,compared with the RRT∗,Q-RRT∗,and original PF-RRT∗ algorithms,the improved PF-RRT∗ algorithm reduced the deviation from the ideal trajectory by 34.04%,26.19%,and 27.91%,the path length by 6.58%,3.16%,and 4.10%,and the planning time by 30.56%,18.25%,and 33.52%,respectively.The results demonstrated that the proposed algorithm can achieve optimal path planning and navigation for autonomous mobile robots in complex orchard terrain.关键词
果园机器人/路径规划/改进PF-RRT*算法/快速搜索随机树/复杂地形环境Key words
orchard robot/path planning/improved PF-RRT* algorithm/rapid exploration random trees/complex terrain environments分类
信息技术与安全科学引用本文复制引用
肖珂,王创,高冠东,张璠..基于改进PF-RRT*算法的果园复杂地形下移动机器人路径规划[J].农业机械学报,2026,57(12):69-79,11.基金项目
国家自然科学基金项目(31801782)、河北省自然科学基金项目(C2020204055)和河北省教育厅科学研究项目(QN2025356) （31801782）
