Research on path planning technology of agricultural robot based on improved artificial potential field method

With the continuous development of economic globalization, the research demand of modern agriculture for intelligent agricultural machinery equipment is increasing. In this paper, an efficient path planning algorithm based on improved artificial potential field method is proposed for the agricultural mobile robot. The principle of artificial potential field method is introduced. And the reasons for the problems of artificial potential field method in fruit and vegetable production base were analyzed, and the algorithm was improved by potential field correction function, follow-wall algorithm and maximum steering angle constraint. The grid environment model was established according to the test base, and the improved artificial potential field method was used to simulate the path. The results of the artificial potential field method before and after the improvement were compared. The local minimum point escape was realized after the improvement, the planned path length was reduced by 10%, and the cumulative Angle was reduced by 13.3%. The improved artificial potential field method meets the requirements of efficient calculation and stable operation of agricultural mobile robot in fruit and vegetable base and contributes the efficient production and modernization of Agricultural machinery equipment in China.