Traversal path planning of agricultural robot based on memory simulated annealing and A* algorithm

MA Quankun; ZHANG Yanfei; GONG Jinliang

doi:10.7671/j.issn.1001-411X.201911022

Journal of South China Agricultural University > 2020 > 41(4): 127-132. > DOI: 10.7671/j.issn.1001-411X.201911022

MA Quankun, ZHANG Yanfei, GONG Jinliang. Traversal path planning of agricultural robot based on memory simulated annealing and A* algorithm[J]. Journal of South China Agricultural University, 2020, 41(4): 127-132. DOI: 10.7671/j.issn.1001-411X.201911022

Citation:

PDF (862 KB)

Traversal path planning of agricultural robot based on memory simulated annealing and A* algorithm

1.
School of Mechanical Engineering, Shandong University of Technology, Zibo 255000, China
2.
School of Agricultural Engineering and Food Science, Shandong University of Technology, Zibo 255000, China

More Information

Received Date: November 19, 2019
Available Online: May 17, 2023

Graphical Abstract

Abstract

Abstract

Objective
To solve the problem of traversal path planning of agricultural robot in field operation.

Method
A memory simulated annealing algorithm combined with A* algorithm was proposed. Firstly, the optimal walking sequence of target points in task was found by memory simulated annealing algorithm, and then A* algorithm was used for crossing regional linking of path planning.

Result
The simulation experiments showed that the Manhattan distance of traversal path planned by this algorithm was reduced by 9.4% compared with the traditional simulated annealing algorithm, the coverage of traversal path could reach 100%, and the repetition rate could be controlled at 4.2%.

Conclusion
Memory simulated annealing algorithm enhances the ability to jump out of the local optimal trap, and improves the quality of the solution obtained by adding memory device to the traditional simulated annealing algorithm. The research results can provide a theoretical basis for the path planning of agricultural robot.
- agricultural robot,
- traversal path planning,
- memory simulated annealing,
- A* algorithm

FullText(HTML)

References (15)

References

[1]	朱铁欣, 董桂菊, 颜丙学, 等. 基于改进蚁群算法的农业机器人路径规划研究[J]. 农机化研究, 2016, 38(9): 48-52. doi: 10.3969/j.issn.1003-188X.2016.09.009
[2]	邱雪娜, 刘士荣, 宋加涛, 等. 不确定动态环境下移动机器人的完全遍历路径规划[J]. 机器人, 2006(6): 586-592. doi: 10.3321/j.issn:1002-0446.2006.06.007
[3]	邱雪娜, 刘士荣, 俞金寿, 等. 移动机器人的完全遍历路径规划: 生物激励与启发式模板方法[J]. 模式识别与人工智能, 2006, 19(1): 122-128. doi: 10.3969/j.issn.1003-6059.2006.01.022
[4]	谢斌, 刘士荣, 俞金寿. 基于在线图搜索的移动机器人遍历运动规划[J]. 华东理工大学学报(自然科学版), 2007(4): 551-557. doi: 10.3969/j.issn.1006-3080.2007.04.021
[5]	ZOU D X, WANG G G, PAN G, et al. A modified simulated annealing algorithm and an excessive area model for floorplanning using fixed-outline constraints[J]. Front Inform Tech El, 2016, 17(11): 1228-1244. doi: 10.1631/FITEE.1500386
[6]	路鹏, 周东岱, 钟绍春, 等. 基于模拟退火算法的计算机自适应测试项目选择方法研究[J]. 计算机应用与软件, 2012, 29(10): 175-179.
[7]	杜利超, 钱桦, 肖爱平. 路径规划技术及其在大棚作业机器人中的应用[J]. 湖北农业科学, 2010, 49(5): 1205-1208. doi: 10.3969/j.issn.0439-8114.2010.05.058
[8]	史兵, 段锁林, 李菊, 等. 温室移动机器人复合栅格地图构建方法研究[J]. 计算机应用研究, 2019, 36(3): 824-828.
[9]	张堂凯. 己知环境下智能清洁机器人路径规划研究[D]. 南京: 南京邮电大学, 2017.
[10]	QIAN J Y, ZHOU Z D, ZHAO L Z, et al. Accelerating reconfiguration for VLSI arrays with A‐star algorithm[J]. IEEJ T Electr Electr , 2018, 13(10): 1511-1519. doi: 10.1002/tee.22716
[11]	王维, 裴东, 冯璋. 改进A*算法的移动机器人最短路径规划[J]. 计算机应用, 2018, 38(5): 1523-1526.
[12]	张欣欣, 薛金林. 基于云模型的农业移动机器人人机合作路径规划[J]. 华南农业大学学报, 2017, 38(6): 105-111. doi: 10.7671/j.issn.1001-411X.2017.06.016
[13]	张文, 刘勇, 张超凡, 等. 基于方向A*算法的温室机器人实时路径规划[J]. 农业机械学报, 2017, 48(7): 22-28. doi: 10.6041/j.issn.1000-1298.2017.07.003
[14]	孙秀巧, 王健, 巫威眺. 基于改进遗传退火算法的高速公路巡逻车路径优化调度[J]. 科学技术与工程, 2019, 19(21): 296-302. doi: 10.3969/j.issn.1671-1815.2019.21.045
[15]	MIAO Z W, YANG F, FU K, et al. Transshipment service through crossdocks with both soft and hard time windows[J]. Ann Oper Res, 2012, 192(1): 21-47. doi: 10.1007/s10479-010-0780-4

Cited By

Cited by

Periodical cited type(17)

1.	蒋沅均，刘红光，余立扬，廖新炜，余劼，陈宇佳，刘畅，秦文祥，郑炜超. 蛋鸡养殖智能巡检机器人设计概述与应用. 中国家禽. 2025(02): 89-97 .
2.	熊竹青，陈怡然，刘莹，孙雷，刘玉龙，闫银发，田野，冯泽猛，印遇龙. 畜禽养殖场舍电磁环境研究进展. 家畜生态学报. 2025(01): 98-107 .
3.	王晨晓，耿丹丹，毕瑜林，陈国宏，常国斌，白皓. 肠道微生物及其代谢产物对家禽饲料利用率影响的研究进展. 中国家禽. 2025(05): 152-160 .
4.	徐君鹏，时磊，王宇，杨文强，杨秋亚. 基于PLC的生猪养殖智能化环境监控及云平台系统设计. 河南科技学院学报(自然科学版). 2025(03): 44-53 .
5.	王祎娜，王鹏军，陈聪. 肉鸡福利养殖的发展现状与趋势. 智能化农业装备学报(中英文). 2025(02): 105-110 .
6.	韩雨晓，李帅，王宁，安娅军，张漫，李寒. 基于3D激光雷达的鸡舍通道中心线检测方法. 农业工程学报. 2024(09): 173-181 .
7.	邵润霖，白宇航，刘睿衡，张京，董梦玥，肖德琴，谢青梅，张新珩. 家禽疫病智能化检测技术研究进展. 中国家禽. 2024(07): 93-100 .
8.	肖德琴，黄一桂，熊悦淞，刘俊彬，谭祖杰，吕斯婷. 畜禽机器人技术研究进展与未来展望. 华南农业大学学报. 2024(05): 624-634+620 . 本站查看
9.	刘晓燕. 亚氨基二乙酸型螯合树脂柱-电感耦合等离子体质谱法测定家禽养殖废水中7种金属元素的残留量. 理化检验-化学分册. 2024(07): 744-748 .
10.	余志安，肖瑞全，李秋生，汤晋，陈恒，谢宁，刘小春. 江西省家禽产业数字化现实基础、制约因素及推进路径. 中国禽业导刊. 2024(08): 19-25 .
11.	孙杰，马凯欣，王佳乐，胡应宽. 禽舍智慧管家——基于数字农业的家禽养殖应用. 当代畜牧. 2024(06): 1-3 .
12.	宁小芬，陆美连，莫梅清，方燕，李梦玲，刘皓，王开胜. 我国智慧养殖关键技术、平台及其应用的研究进展. 玉林师范学院学报. 2024(03): 95-100 .
13.	肖德琴，曾瑞麟，周敏，黄一桂，王文策. 基于DH-YoloX的群养马岗鹅关键行为监测. 农业工程学报. 2023(02): 142-149 .
14.	冷婷婷. 家禽养殖设备专利分析. 现代畜牧科技. 2023(07): 132-135 .
15.	胡建平，赵新宇，冯汝广，范国华，赵翠敏. 传感器在设施农业中的应用. 南方农机. 2023(19): 59-61+91 .
16.	杨雨彤，句金，任守华. 基于深度卷积神经网络的蛋鸡体温监测系统. 现代畜牧科技. 2023(10): 51-55 .
17.	冉明霞，郑基坛，刘兴廷，谢龙，左二伟，陆阳清. 家禽基因编辑相关技术研究进展及应用. 中国畜禽种业. 2023(12): 36-48 .

Other cited types(16)

Get Citation

PDF

XML

Article views (1281) PDF downloads (1444) Cited by(33)

Turn off MathJax

Article Contents

Abstract

References

Traversal path planning of agricultural robot based on memory simulated annealing and A* algorithm

Abstract

References

Cited by

Periodical cited type(17)

Other cited types(16)

Catalog

Export File

Citation

Format

Content