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

Bing Hao and Zheping Yan

Keywords

AMR, recovery, path planning, DubinsRRT

Abstract

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.

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