An improved DWA algorithm in agricultural robot

Abstract

The study of robot research necessitates the exploration of path planning. The goal of this paper is to enable multiple robots with different functions to reach the designated place quickly and accurately in the orchard environment. In comparison, avoiding collisions, deadlocks, and other complications. This paper has chosen to employ the upgraded A-star algorithm in the global layer as its strategy. An improved DWA algorithm is used in the local layer. In addition, the Voronoi graph method is introduced to limit the search area and solve the obstacle avoidance problem of multiple robots. The left-turn method is applied to the deadlock problem of multiple robots. Finally, the obstacle avoidance efficiency in a multi-obstacle environment is simulated to verify the algorithm's effectiveness.