Unmanned vehicle path planning for orchards based on improved bidirectional A* algorithm

Yuchao Wang; Chunhai Fu; Kelin Tong; Ruiyu Huang; Lijia Xu

doi:10.1117/12.3041912

29 August 2024 Unmanned vehicle path planning for orchards based on improved bidirectional A* algorithm

Yuchao Wang, Chunhai Fu, Kelin Tong, Ruiyu Huang, Lijia Xu

Proceedings Volume 13249, International Conference on Computer Vision, Robotics, and Automation Engineering (CRAE 2024); 132490J (2024) https://doi.org/10.1117/12.3041912
Event: 2024 International Conference on Computer Vision, Robotics and Automation Engineering, 2024, Kunming, China

Abstract

This paper presents an enhanced bidirectional A* algorithm tailored for orchard unmanned vehicles' path planning. It integrates a bidirectional search approach and a turn cost function to bolster safety and efficiency in pathfinding. Notably, the evaluation function undergoes modification to facilitate adaptive adjustments in heuristic term weights, thereby curtailing turning points and path length. To ensure alignment with practical needs, a cubic B-spline curve is employed for path smoothing. Simulation and experimental data substantiate the algorithm's efficacy, revealing a notable 30.08% reduction in navigation distance deviation.

(2024) Published by SPIE. Downloading of the abstract is permitted for personal use only.

Citation Download Citation

Yuchao Wang, Chunhai Fu, Kelin Tong, Ruiyu Huang, and Lijia Xu "Unmanned vehicle path planning for orchards based on improved bidirectional A* algorithm", Proc. SPIE 13249, International Conference on Computer Vision, Robotics, and Automation Engineering (CRAE 2024), 132490J (29 August 2024); https://doi.org/10.1117/12.3041912

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