基于物联网和人工智能的农业无人机路径规划系统

Path Planning System of Agricultural UAV Based on Internet of Things and Artificial Intelligence

采用物联网网络架构,基于Dijstar算法中引入的启发式函数A*算法,将农业无人机的航迹放大细化,在航迹存在明显夹角的情况下对A*算法进行改进,在允许的范围内采用劣弧替代A*算法的航路规划,实现对航迹的优化。MatLab仿真实验表明:改进A*算法的路径规划明显比A*算法更平滑,路径更短,具备更好的航路点集,证明了改进A*算法的路径规划具备一定的稳定性和可行性。

It used the Internet of things network architecture,based on the heuristic function A*algorithm,introduced in dijstar algorithm,enlarges and refines the track of agricultural UAV,improved the A*algorithm when the track has obvious angle.And it used inferior arc to replace the route planning of A*algorithm within the allowable range,so as to realize the optimization of the track.Matlab simulation results showed that the improved A*algorithm is smoother,shorter with better set of waypoints than A*algorithm,which proves that the improved A*algorithm has certain stability and feasibility.