基于APF-RRT*算法的农田智能机器人路径规划

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关键词：农田智能机器人；路径规划；APF算法；RRT 算法；路径优化中图分类号：TP242.6 文献标识码：A 文章编号：2096-4706（2025）19-0177-06

Abstract： In order to improve the eficiencyand safetyof path planning incomplex environments for intellgent farmland robots，a path planning method combining the Artificial Potential Field （APF） method and RRT* algorithm （APF-RRT*） is proposed.The methodusestheglobalsearchcapabilityofRRT*togeneratetheinitialpath，andoptimizesthepathlengthand smoothnesstoreduce theredundant nodes by improvingAPF.The improvedAPF guidesthe path growththrough the synergyof gravitationalandrepusive forces toavoidobstaclesand avoidlocal minima.Simulationcomparison experiments basedon1 m×1000m farmland environment show that theAPF-RRT*plans the shortest path length （169.2m） ），whichisreducedby 5.3% 0.6% ，and 1.9% compared with RRT， RRT* ，and APF-RRT， respectively. The planning time is only 2.5s ，whichisshortened by 60.3% and 47.9% compared with RRT and RRT* .The number of visited nodes （56） and the number of iterations（780） are significantlyeduced.Thealgorithmperformswelin termsofpathsmoothnessobstacleavoidance effciencyandglobalearch providing an efficient solution for automated farmland operations.

Keywords： inteligent farmland robot; path planning; APF algorithm; RRT* algorithm; path optimization

0 引言

随着农业现代化的加速推进，农田智能机器人在农业生产中的应用日益广泛，成为提升农业生产效率、降低人力成本、实现精准农业的关键技术之一。（剩余7376字）