Agricultural Robot Path Planning System Based On A* And B-Spline Algorithm

The application of path planning in agricultural robots is effective in accelerating the development of efficient and intelligent agriculture,ensuring the accuracy of the operation path and running distance of agricultural robots,so that the agricultural robots can drive their own path according to the planned path.In this paper,the majority of the existing path planning algorithm will only solve the shortest path as the goal,without considering the planned path is not smooth enough smooth problem.The algorithm is combined with the path curve to optimize the smooth B-spline algorithm to achieve the optimal smoothing path,which is convenient for the driving and agricultural operation of the agricultural robot.Firstly,the paper analyzes the requirements of the path planning of agricultural robots and the rules of geography and the irregular environment,and then determines the requirements of the system to the digital map.Analyze the characteristics of the path planning trajectory and determine the walking mode of the operating area.On this basis,the optimal path algorithm is analyzed,Adapt it to the functional requirements of the system.Based on ArcGIS,we can design the vector digital map which can be developed twice,and then add the attribute data for A* algorithm and B-spline algorithm path planning.Secondly,the design and implementation of agricultural robot path planning system,design system functions,including agricultural robot and system server communication interface,path tracking and planning function design and historical path display.Design based on ArcGIS Engine system implementation,complete the design and display of the map module,design database module background storage and extract query function.Using the digital map,Inertial Navigation System(INS)and Geographic Information System(GIS)technology,the 3G communication network and Socket programming are used to trace the information between the agricultural robot and the path management system.Track the function of monitoring.Then,the A* and B-spline algorithms are studied and the algorithm simulation experiments and analysis are carried out for the path planning of agricultural robots.The shortest path planning of agricultural robots is realized by A* algorithm,and then the B-spline algorithm is used to optimize the shortest path,The final completion of the optimal operating path to walk.The simulation results of A* and B-spline are simulated by Matlab simulation.The experimental results show that the path obtained by A* algorithm is sharp at some corners and easily lead to position error.Combining A* and B-spline algorithms The path is smooth and smooth.Finally,the path planning algorithm is written into the path management and control server software platform through ArcGIS Engine secondary development C# programming language to finally realize the agricultural robot path planning function.Finally,the software function of the agricultural robot path planning system is tested,the process of the system interface is demonstrated,the experiment of the path tracking of the agricultural robot is carried out.The trajectory of the optimal operation path is drawn and the historical path is analyzed and replayed.Experimental results: The crawler robot can communicate with the server in accordance with the communication protocol,the path tracking and planning is correct,the tracking effect is less deviation when there is no external disturbance.The path planning combining A* and B-spline algorithm can not only find the shortest path,The path is also more smooth,in line with the crawler robot farming requirements.