基于改进RRT算法的猕猴桃采摘机器人全局路径规划

为提高猕猴桃采摘机器人导航效率，提出一种基于采样状态实时引导随机树扩展的改进方法（Straight-RRT）。首先，针对传统RRT算法盲目搜索的问题，引入评价指数与阈值划分采样状态，根据采样状态决定采样节点的选取方式，实时引导随机树的扩展。其次，为增强算法对不同环境的自适应性及快速避开不规则障碍物，引入动态阈值并优化最近节点选择机制。最后对路径进行优化处理，去除路径冗余点并采用贝塞尔曲线平滑路径减小路径复杂度。基于棚架式猕猴桃果园环境进行路径规划实验，实验结果表明改进后算法在猕猴桃果园环境中具有更好的适应性及规划效率，为提高猕猴桃采摘机器人导航效率提供了解决方法。

Global Path Planning of Kiwifruit Harvesting Robot Based on Improved RRT Algorithm

In order to improve the navigation efficiency of the kiwifruit harvesting robot, the rapidly expanding random tree (Rapidly-exploring random trees, RRT) algorithm was researched, and an improved method (Straight-RRT) for real-time guided random tree expansion based on sampling state was proposed. Firstly, aiming at the problem of blind search in the traditional RRT algorithm, an evaluation index and a threshold were introduced to divide the sampling state, and the selection method of sampling nodes was determined according to the sampling state, so as to guide the expansion of the random tree in real time. Secondly, in order to enhance the adaptability of the algorithm to different environments, a dynamic threshold was introduced, which was adaptively adjusted according to the complexity of the environment, and at the same time, the nearest node selection mechanism was optimized to make the random tree avoid irregular obstacles faster. Finally, the path was optimized, the redundant points of the path were removed, and the Bezier curve was used to smooth the path to reduce the complexity of the path. Combined with the environment of the kiwifruit orchard, the effective harvesting area of the kiwifruit harvesting robot was analyzed, and a navigation method to achieve full coverage of the kiwifruit orchard was proposed. Based on the kiwifruit orchard environment, the path planning experiment was carried out, and the algorithm was compared with other improved algorithms. The path planning experiment results showed that the improved algorithm had better adaptability and planning efficiency in the kiwifruit orchard environment, which can provide a basis for improving the navigation efficiency of the kiwifruit harvesting robot.