Path Planning Algorithm of Orchard Fertilization Robot Based on Multi-Constrained Bessel Curve

Fanxia Kong (), Baixu Liu, Xin Han, Lili Yi, Haozheng Sun, Jie Liu, Lei Liu and Yubin Lan
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Fanxia Kong: School of Agricultural Engineering and Food Science, Shandong University of Technology, Zibo 255000, China
Baixu Liu: School of Agricultural Engineering and Food Science, Shandong University of Technology, Zibo 255000, China
Xin Han: School of Agricultural Engineering and Food Science, Shandong University of Technology, Zibo 255000, China
Lili Yi: School of Agricultural Engineering and Food Science, Shandong University of Technology, Zibo 255000, China
Haozheng Sun: School of Agricultural Engineering and Food Science, Shandong University of Technology, Zibo 255000, China
Jie Liu: School of Agricultural Engineering and Food Science, Shandong University of Technology, Zibo 255000, China
Lei Liu: School of Agricultural Engineering and Food Science, Shandong University of Technology, Zibo 255000, China
Yubin Lan: School of Agricultural Engineering and Food Science, Shandong University of Technology, Zibo 255000, China

Agriculture, 2024, vol. 14, issue 7, 1-18

Abstract: Path planning is the core problem of orchard fertilization robots during their operation. The traditional full-coverage job path planning algorithm has problems, such as being not smooth enough and having a large curvature fluctuation, that lead to unsteady running and low working efficiency of robot trajectory tracking. To solve the above problems, an improved A* path planning algorithm based on a multi-constraint Bessel curve is proposed. First, by improving the traditional A* algorithm, the orchard operation path can be fully covered by adding guide points. Second, according to the differential vehicle kinematics model of the orchard fertilization robot, the robot kinematics constraint is combined with a Bessel curve to smooth the turning path of the A* algorithm, and the global path meeting the driving requirements of the orchard fertilization robot is generated by comprehensively considering multiple constraints such as the minimum turning radius and continuous curvature. Finally, the pure tracking algorithm is used to carry out tracking experiments to verify the robot’s driving accuracy. The simulation and experimental results show that the maximum curvature of the planned trajectory is 0.67, which meets the autonomous operation requirements of the orchard fertilization robot. When tracking the linear path in the fertilization area, the average transverse deviation is 0.0157 m, and the maximum transverse deviation is 0.0457 m. When tracking the U-turn path, the average absolute transverse deviation is 0.1081 m, and the maximum transverse deviation is 0.1768 m, which meets the autonomous operation requirements of orchard fertilization robots.

Keywords: path planning; orchard fertilization robot; A* algorithm; Bessel curve; multiple constraints (search for similar items in EconPapers)
JEL-codes: Q1 Q10 Q11 Q12 Q13 Q14 Q15 Q16 Q17 Q18 (search for similar items in EconPapers)
Date: 2024
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