智能土壤采样机改进A*算法路径规划

doi:10.3778/j.issn.1002-8331.2407-0429

摘要/Abstract

摘要： 智能土壤采样机是一种进行土壤采样作业的高效设备，为了解决未知环境下路径规划的效率和安全性问题，提出了一种改进的A*算法。对估价函数引入动态的权重系数，减少了搜索节点数；将传统的8邻域搜索减少为5邻域搜索，去除了冗余的搜索方向；定义车身半径，进行防碰撞处理，优化了安全性能；采用贝塞尔曲线对路径进行平滑处理。采用农田地块的五点采样法进行仿真实验，结果表明改进A*算法相较于传统A*算法，搜索节点数量平均减少83.66%、搜索时间平均减少56.61%。进一步采用移动机器人在真实环境中进行实验，验证了改进A*算法在实际应用中路径规划的准确率和效率。

关键词: 智能土壤采样机, A*算法, 路径规划, 五点采样法, 动态权重, 贝塞尔曲线平滑

Abstract: Intelligent soil sampler is a kind of efficient equipment for soil sampling. In order to solve the problem of efficiency and safety of path planning in unknown environment, an improved A* algorithm is proposed. Firstly, a dynamic weight coefficient is introduced to the evaluation function to reduce the number of search nodes. Secondly, the traditional 8 neighborhood search is reduced to 5 neighborhood search, and the redundant search direction is removed. Thirdly, the radius of the car body is defined and the anti-collision treatment is carried out to optimize the safety performance. Finally, Bessel curve is used to smooth the path. The simulation results show that compared with the traditional A* algorithm, the improved A* algorithm can reduce the average number of search nodes by 83.66% and the average search time by 56.61%. The accuracy and efficiency of the improved A* algorithm in practical path planning are verified by the experiment of mobile robot in real environment.

Key words: intelligent soil sampling machine, A* algorithm, path planning, five-point sampling method, dynamic weight, Bessel curve smoothing

葛杏卫, 苏浩冉, 张凯亮, 赵月静, 秦志英. 智能土壤采样机改进A*算法路径规划[J]. 计算机工程与应用, 2025, 61(20): 123-131.

GE Xingwei, SU Haoran, ZHANG Kailiang, ZHAO Yuejing, QIN Zhiying. Improved A* Algorithm Path Planning of Intelligent Soil Sampler[J]. Computer Engineering and Applications, 2025, 61(20): 123-131.

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