RECOVERY PATH PLANNING FOR AN AGRICULTURAL MOBILE ROBOT BY DUBINS-RRT* ALGORITHM

摘要

An agricultural mobile robot (AMR) plays an important role in crop recovery missions. A Dubins-RRT* algorithm is proposed to involve the construction of a recovery path for AMR under kinematics constraints. The planning path avoids obstacles and incurs the minimum cost from a rendezvous point to recovery platform. First, a Dubins waypoints generator for AMR in the recovery process is designed to produce the recovery path. Then the Dubins-RRT* algorithm is described. In the dense obstacle environment, the minimum cost of the recovery path found by Dubins-RRT* algorithms can be drastically improving the efficiency. Finally, comparative simulation results show the effectiveness and superiority of the proposed Dubins-RRT* algorithms.