基于地图服务器的群采摘机器人的A^(*)路径规划算法

Path planning of A^(*) algorithm for swarm harvesting robots based on map serve

为解决群采摘机器人工作中存在的采摘区域大、地形多变、群机器人控制复杂等问题,提出一种基于地图服务器的群采摘机器人的A^(*)路径规划算法。通过地图服务器进行采摘地图分配,使用地图瓦片技术将大尺寸采摘地图切分为瓦片地图,采用K均值算法对采摘区域进行划分,通过请求分配机制进行采摘区域地图组合和发布,在分配采摘地图的同时,限制群采摘机器人的工作范围。通过添加待遍历点列表,对传统A^(*)算法进行改进,实现区域地图内群采摘机器人路径规划。仿真实验结果表明,基于地图服务器的A^(*)算法寻路时间较传统A^(*)算法减少了13%,能够完成群采摘机器人在区域地图内的果树遍历,且能避免群采摘机器人工作中的运动干扰。

To solve the problems of large harvesting area,variable terrain and complex control of swarm harvesting robots,a path planning of A^(*) algorithm for swarm harvesting robots based on map server is proposed.The map server uses map tile technology to divide large-size picked maps into tilemaps,adopts the K-means algorithm to divide the harvesting area,and publishes the combined map through the request distribution mechanism.The harvesting map is allocated and the working range of the swarm harvesting robot is limited.The traditional A^(*) algorithm is improved by adding the list of points to be traversed,and the path planning of the swarm harvesting robot in the regional map is realized.The results show that the A^(*) algorithm based on the map server takes 13%less time than the traditional A^(*) algorithm.It can complete the fruit tree traversal of the swarm harvesting robot in the area map and avoid the movement interference of the swarm harvesting robot.