关键词: 路径规划, A*算法, DWA算法, 果园喷雾机器人, 路径优化

Abstract: In the operation process of orchard spray robot, path planning, as the core problem of orchard spray robot, has the problems of low smoothness of planned path, low efficiency of algorithm search and close to obstacles. Aiming at the problem of orchard spray robot avoiding dynamic obstacles in real time and planning a better global operation path in complex orchard environment, a path planning algorithm for orchard spray robot based on improved A* algorithm and dynamic window approach（ DWA ） is proposed. Firstly, the heuristic function of A* algorithm is optimized, so that the algorithm can plan a path in the center line of fruit trees. Then, by adding multiple guiding points to the grid map, the A* algorithm is guided to complete the preliminary global path planning of the orchard. Finally, combined with DWA algorithm to track the initial global path and avoid dynamic obstacles in real time, the global path planning of orchard spray robot is completed. MATLAB is used for simulation verification. The experimental results show that the improved algorithm plans the center line path between orchard rows while avoiding obstacles. The path is smooth and better, which can meet the operation requirements of orchard spray robot in complex environment.

Key words: path planning, A* algorithm, dynamic window approach（DWA）, orchard spraying robot, path optimization