农业装备与车辆工程2026，Vol.64Issue(5)：26-34,9.DOI:10.3969/j.issn.1673-3142.2026.05.005
基于改进A*-APF和Bezier融合的履带机器人路径规划
Path planning for tracked robots based on fusion of improved A*-APF and Bezier curve
摘要
Abstract
Aiming at persistent issues of tracked robots in unstructured orchard scenarios-low global planning efficiency,path redundancy,insufficient dynamic obstacle avoidance performance and poor smoothness-a three-stage hybrid path planning approach is proposed,which integrates the improved A* algorithm,optimized Artificial Potential Field(APF)method and piecewise Bezier curve.The A* algorithm is first optimized via dynamic weighting of the heuristic function and turning penalty function to enhance search efficiency while reducing redundant nodes,followed by APF improvement through optimizing the potential field function model to resolve the local minimum problem and strengthen dynamic obstacle avoidance capability.Eventually,path smoothing is achieved using the piecewise Bezier curve.Simulation experiments demonstrate that this algorithm performs remarkably well in planning efficiency,path length,dynamic obstacle avoidance and smoothness,fully meeting the requirements of efficient autonomous operation for tracked orchard robots.关键词
果园履带机器人/路径规划/改进A* 算法/人工势场法/Bezier 曲线Key words
orchard tracked robot/path planning/improved A* algorithm/artificial potential field/Bezier curve分类
信息技术与安全科学引用本文复制引用
梁焱,蒋蘋,罗亚辉,胡文武..基于改进A*-APF和Bezier融合的履带机器人路径规划[J].农业装备与车辆工程,2026,64(5):26-34,9.基金项目
湖南省科技重大专项——十大技术攻关项目(2023NK1020) （2023NK1020）
湖南省教育厅重点项目(23A0179) （23A0179）
2023年广东高水平农业科技创新示范城市建设市校合作项目(2320060002384) （2320060002384）
长沙市科技局自然科学基金项目(kq2402110) （kq2402110）
湖南省科技厅自然科学基金项目(2025JJ50164) （2025JJ50164）
