Robot Path Planning Navigation for Dense Planting Red Jujube Orchards Based on the Joint Improved A* and DWA Algorithms under Laser SLAM

Abstract

High precision navigation along specific paths is required for plant protection operations in dwarf and densely planted jujube orchards in southern Xinjiang. This study proposes a robotic path planning and navigation method for dense planting of red jujube orchards based on the improved A* and dynamic window approach (DWA) algorithms using Laser Radar to build maps. First, kinematic and physical robot simulation models are established; a map of the densely planted jujube orchard is constructed using Laser Radar. The robot's position on the constructed map is described using an adaptive Monte Carlo positioning algorithm. Second, a combination of the improved A* and DWA algorithms is used to implement global and real-time local path planning; an evaluation function is used for path optimisation. The proposed path planning algorithm can accurately determine the robot's navigation paths, with the average error U, average linear path displacement error, and L-shaped navigation being 2.69, 2.47, and 2.68 cm, respectively. A comparison experiment is set up in the specific path navigation section. The experimental results show that the improved fusion algorithm reduces the average navigation positioning deviation by 0.91cm and 0.54cm when navigating L and U-shaped specific paths. The improved fusion algorithm is superior to the traditional fusion algorithm in navigation accuracy and navigation stability. It can improve the navigation accuracy of the dense planting jujube garden and provide a reference method for the navigation of the plant protection operation in the densely planted jujube orchards.

Agricultural machinery automatic navigation technology

“…In 2020, Zhong 84 combined A∗ algorithm and adaptive window algorithm to simplify the calculation of risk cost function and distance cost, reduce the number of grid nodes, and realize smooth path tracking. In 2022, Li 85 used lidar to build a map and combined the improved A∗ algorithm with the DWA algorithm to realize the global path planning and real-time local path planning of plant protection operations in dwarf and dense jujube orchard. The U-shaped path exhibits an average error of 0.0269 m, whereas the linear path demonstrates a displacement error of 0.0247m.…”

Robot obstacle avoidance optimization by A* and DWA fusion algorithm

“…The method used the hybrid algorithm to achieve global and local path planning, and optimized path through evaluation function. Results showed that it was superior to traditional fusion algorithm [ 9 ]. Linz team proposed a method to conduct global and local robot path planning.…”

Global Navigation Satellite Systems as State-of-the-Art Solutions in Precision Agriculture: A Review of Studies Indexed in the Web of Science

“…Other sensors, including LiDAR, cameras, and IMUs, can also be used by SLAM to produce a comprehensive map of the surroundings. The production of precise maps of fields and orchards is an important use of GNSS-based SLAM in PA [97]. GNSS-based SLAM may also be utilized for precise agricultural machinery guiding [98].…”