基于A^(*)算法的采摘机器人路径规划研究  

Path Planning of Picking Robot Based on A^(*) Algorithm

作　　者：高焕超 Gao Huanchao(Zhengzhou University of Science and Technology,Zhengzhou 450064,China)

机构地区：[1]郑州科技学院,郑州450064

出　　处：《农机化研究》2025年第7期240-244,共5页Journal of Agricultural Mechanization Research

基　　金：河南省科技攻关项目(232102210082)。

摘　　要：路径规划是采摘机器人工作效率的重要影响因素,合理规划采摘路径,使采摘机器人能够快速、安全到达采摘区域,有效提高采摘效率。为此,深入研究了A^(*)算法,并将其应用在采摘机器人路径规划研究中,建立采摘机器人运动学数学模型,优化A^(*)算法运行流程,通过构建地图环境,采用扩大节点搜索邻域的方法,完成了采摘机器人不同环境下的路径规划仿真实验,验证A^(*)算法在采摘机器人路径规划应用中的可行性和有效性。结果表明:基于A^(*)算法的采摘机器人路径规划合理,搜索效率较高、路径长度较短、平滑度高,且能够缩短采摘机器人到达目标区域的时间,提高采摘机器人工作效率,达到了预期目的。Path planning is an important factor affecting the efficiency of harvesting robots.Reasonable planning of harvesting paths enables harvesting robots to quickly and safely reach the harvesting area,effectively improving harvesting efficiency.This paper deeply studied the A^(*)algorithm,and applied it to the path planning research of the picking robot,established the kinematics mathematical model of the picking robot,optimized the operation process of the A^(*)algorithm,and completed the path planning simulation experiments of the picking robot in different environments by building a map environment and using the method of expanding the node search neighborhood,to verify the feasibility and effectiveness of the A^(*)algorithm in the path planning application of the picking robot.The results showed that the path planning of the picking robot based on A^(*)algorithm was reasonable,with high search efficiency,short path length,and high smoothness.It can shorten the time for the picking robot to reach the target area,improve the working efficiency of the picking robot,and achieve the expected goals.

关 键 词：采摘机器人 路径规划 A^(*)算法 节点搜索 运动学建模 

分 类 号：S225[农业科学—农业机械化工程]