Obstacle Avoidance and Path Planning for UGVs Using Improved RRT Algorithm

Zheng, Ling; Zhang, Chaoxing; Li, Weihua; Wang, Guan; Ma, Guangcheng; Xia, Hongwei

doi:10.23919/ccc55666.2022.9901678

Cited by 5 publications

(2 citation statements)

References 8 publications

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“…Through field trackcontrol testing in the mountain apple orchard, it was verified that the system achieved high accuracy. Zheng et al [7] proposed an online rolling optimization method for bidirectional rapidly exploring random trees (RRT) routes based on centroid bias sampling. The entire trajectory dynamics optimization of the planned trajectories was carried out using the minimum snap method and the high-and low-expansion grid probability map method.…”

Section: Obstacle-avoidance Control Technologymentioning

confidence: 99%

Development Status and Key Technologies of Plant Protection UAVs in China: A Review

Zhang

Yang

et al. 2022

Drones

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Plant protection unmanned aerial vehicles (UAVs) play a crucial role in agricultural aviation services. In recent years, plant protection UAVs, which improve the accuracy and eco-friendliness of agricultural techniques, have been used to overcome the shortcomings of traditional agricultural operations. First, this paper introduces the development scale, main types, and operation scenarios of China’s plant protection UAVs. Subsequently, the key technologies of plant protection UAVs, such as precision autonomous flight control, pesticide spraying, drift control, and spraying quality measurement technologies, are reviewed. Next, the emergent technologies of plant protection UAVs are studied and analyzed with a focus on better spray effects, calculation models of droplet drift, controllable droplet size atomization technology, droplet drift detection technology, and droplet deposition quality detection technology in the application of plant protection UAVs. Moreover, the technologies of plant protection UAV application are summarized and future research prospects are presented, offering ideas for follow-up research on the key technologies of plant protection UAVs and encouraging agricultural production management to move toward better efficiency, eco-friendliness, and accuracy.

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Section: Obstacle-avoidance Control Technologymentioning

confidence: 99%

Development Status and Key Technologies of Plant Protection UAVs in China: A Review

Zhang

Yang

et al. 2022

Drones

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“…Then pruning and optimizing the redundant nodes of the initial path [10] and smoothing the turning point [11] .…”

Section: Path Optimizationmentioning

confidence: 99%

Research on improved RRT* path planning based on hospital complex environment

LIU,

LIU

2024

Ninth International Symposium on Sensors, Mechatronics, and Automation System (ISSMAS 2023)

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A variant of the Rapidly Extended Random Tree (RRT*) algorithm is proposed when studying the global path planning of mobile robots in a hospital with multiple obstacles and disordered environments. In the sampling process, the algorithm adopts the target bias sampling combined with the sampling constraint strategy to guide the sampling points, and then combines the artificial potential field (APF) in the node expansion process to introduce attraction and repulsion to accelerate the growth of the random tree towards the target point. , and finally perform path optimization on the initial planning path, that is, pruning and smoothing, to improve the problem of path redundancy and tortuousness. Experiments show that the algorithm retains the characteristics of RRT random sampling flexibility and is also goal-oriented. Moreover, it reduces the cost of path planning and improves its smoothness, and accelerates the convergence of the algorithm, which makes it have advantages in the complex environment of the hospital.

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