Research on Path Planning of Orchard Spraying Robot Based on Improved RRT Algorithm

Abstract

Aiming at the problems of low efficiency, high labor cost, and high drug harm in the traditional manual spraying method in orchard planting, an autonomous spraying robot for orchard was designed to replace manual pesticide spraying. In order to solve the problem of path planning for orchard spraying robots, the traditional RRT algorithm has the disadvantages of poor target, strong randomness, and the planned path is not necessarily the optimal path in the search path process. With the help of the optimization ability of Dijkstra algorithm, a method is proposed. An orchard spraying robot path optimization method based on improved RRT algorithm. In order to verify the feasibility and effectiveness of the improved RRT algorithm in the path planning application of the orchard spraying robot, the MATLAB platform is used for simulation analysis, and the traditional RRT algorithm is compared with the improved RRT algorithm. The simulation experiment results show that: compared with the traditional RRT algorithm, the improved RRT path planning algorithm's optimization ability and convergence performance have been significantly improved, the planned path length is shortened by 10%, the number of nodes is reduced by nearly 86%, and the path is improved. The ability to find the best, reduce the degree of tortuous path, help reduce the energy loss of agricultural spraying robots in the working process, and effectively solve the path planning problem of orchard spraying robots, making it safer and more efficient to avoid obstacles to achieve autonomy Spraying task.