Global Path Research Articles

Path Planning Algorithm of Orchard Fertilization Robot Based on Multi-Constrained Bessel Curve

Path planning is the core problem of orchard fertilization robots during their operation. The traditional full-coverage job path planning algorithm has problems, such as being not smooth enough and having a large curvature fluctuation, that lead to unsteady running and low working efficiency of robot trajectory tracking. To solve the above problems, an improved A* path planning algorithm based on a multi-constraint Bessel curve is proposed. First, by improving the traditional A* algorithm, the orchard operation path can be fully covered by adding guide points. Second, according to the differential vehicle kinematics model of the orchard fertilization robot, the robot kinematics constraint is combined with a Bessel curve to smooth the turning path of the A* algorithm, and the global path meeting the driving requirements of the orchard fertilization robot is generated by comprehensively considering multiple constraints such as the minimum turning radius and continuous curvature. Finally, the pure tracking algorithm is used to carry out tracking experiments to verify the robot’s driving accuracy. The simulation and experimental results show that the maximum curvature of the planned trajectory is 0.67, which meets the autonomous operation requirements of the orchard fertilization robot. When tracking the linear path in the fertilization area, the average transverse deviation is 0.0157 m, and the maximum transverse deviation is 0.0457 m. When tracking the U-turn path, the average absolute transverse deviation is 0.1081 m, and the maximum transverse deviation is 0.1768 m, which meets the autonomous operation requirements of orchard fertilization robots.

Research on Path Planning Algorithm of Driverless Ferry Vehicles Combining Improved A* and DWA.

In view of the fact that the global planning algorithm cannot avoid unknown dynamic and static obstacles and the local planning algorithm easily falls into local optimization in large-scale environments, an improved path planning algorithm based on the integration of A* and DWA is proposed and applied to driverless ferry vehicles. Aiming at the traditional A* algorithm, the vector angle cosine value is introduced to improve the heuristic function to enhance the search direction; the search neighborhood is expanded and optimized to improve the search efficiency; aiming at the problem that there are many turning points in the A* algorithm, a cubic quasi-uniform B-spline curve is used to smooth the path. At the same time, fuzzy control theory is introduced to improve the traditional DWA so that the weight coefficient of the evaluation function can be dynamically adjusted in different environments, effectively avoiding the problem of a local optimal solution. Through the fusion of the improved DWA and the improved A* algorithm, the key nodes in global planning are used as sub-target punctuation to guide the DWA for local planning, so as to ensure that the ferry vehicle avoids obstacles in real time. Simulation results show that the fusion algorithm can avoid unknown dynamic and static obstacles efficiently and in real time on the basis of obtaining the global optimal path. In different environment maps, the effectiveness and adaptability of the fusion algorithm are verified.

Research on Intelligent Wheelchair Multimode Human–Computer Interaction and Assisted Driving Technology

The traditional wheelchair focuses on the “human-chair” motor function interaction to ensure the elderly and people with disabilities’ basic travel. For people with visual, hearing, physical disabilities, etc., the current wheelchairs show shortcomings in terms of accessibility and independent travel for this group. Therefore, this paper develops an intelligent wheelchair with multimodal human–computer interaction and autonomous navigation technology. Firstly, it researches the multimodal human–computer interaction technology of occupant gesture recognition, speech recognition, and head posture recognition and proposes a wheelchair control method of three-dimensional head posture mapping the two-dimensional plane. After testing, the average accuracy of the gesture, head posture and voice control modes of the motorized wheelchair proposed in this study reaches more than 95 percent. Secondly, the LiDAR-based smart wheelchair indoor autonomous navigation technology is investigated to realize the autonomous navigation of the wheelchair by constructing an environment map, using A* and DWA algorithms for global and local path planning, and adaptive Monte Carlo simulation algorithms for real-time localization. Experiments show that the position error of the wheelchair is within 10 cm, and the heading angle error is less than 5° during the autonomous navigation. The multimode human–computer interaction and assisted driving technology proposed in this study can partially compensate and replace the functional deficiencies of the disabled population and improve the quality of life of the elderly and disabled population.

Autonomous Exploration Method of Unmanned Ground Vehicles Based on an Incremental B-Spline Probability Roadmap.

Autonomous exploration in unknown environments is a fundamental problem for the practical application of unmanned ground vehicles (UGVs). However, existing exploration methods face difficulties when directly applied to UGVs due to limited sensory coverage, conservative exploration strategies, inappropriate decision frequencies, and the non-holonomic constraints of wheeled vehicles. In this paper, we present IB-PRM, a hierarchical planning method that combines Incremental B-splines with a probabilistic roadmap, which can support rapid exploration by a UGV in complex unknown environments. We define a new frontier structure that includes both information-gain guidance and a B-spline curve segment with different arrival orientations to satisfy the non-holonomic constraint characteristics of UGVs. We construct and maintain local and global graphs to generate and store filtered frontiers. By jointly solving the Traveling Salesman Problem (TSP) using these frontiers, we obtain the optimal global path traversing feasible frontiers. Finally, we optimize the global path based on the Time Elastic Band (TEB) algorithm to obtain a smooth, continuous, and feasible local trajectory. We conducted comparative experiments with existing advanced exploration methods in simulation environments of different scenarios, and the experimental results demonstrate that our method can effectively improve the efficiency of UGV exploration.

Research on Autonomous Vehicle Path Planning Algorithm Based on Improved RRT* Algorithm and Artificial Potential Field Method.

For the RRT* algorithm, there are problems such as greater randomness, longer time consumption, more redundant nodes, and inability to perform local obstacle avoidance when encountering unknown obstacles in the path planning process of autonomous vehicles. And the artificial potential field method (APF) applied to autonomous vehicles is prone to problems such as local optimality, unreachable targets, and inapplicability to global scenarios. A fusion algorithm combining the improved RRT* algorithm and the improved artificial potential field method is proposed. First of all, for the RRT* algorithm, the concept of the artificial potential field and probability sampling optimization strategy are introduced, and the adaptive step size is designed according to the road curvature. The path post-processing of the planned global path is carried out to reduce the redundant nodes of the generated path, enhance the purpose of sampling, solve the problem where oscillation may occur when expanding near the target point, reduce the randomness of RRT* node sampling, and improve the efficiency of path generation. Secondly, for the artificial potential field method, by designing obstacle avoidance constraints, adding a road boundary repulsion potential field, and optimizing the repulsion function and safety ellipse, the problem of unreachable targets can be solved, unnecessary steering in the path can be reduced, and the safety of the planned path can be improved. In the face of U-shaped obstacles, virtual gravity points are generated to solve the local minimum problem and improve the passing performance of the obstacles. Finally, the fusion algorithm, which combines the improved RRT* algorithm and the improved artificial potential field method, is designed. The former first plans the global path, extracts the path node as the temporary target point of the latter, guides the vehicle to drive, and avoids local obstacles through the improved artificial potential field method when encountered with unknown obstacles, and then smooths the path planned by the fusion algorithm, making the path satisfy the vehicle kinematic constraints. The simulation results in the different road scenes show that the method proposed in this paper can quickly plan a smooth path that is more stable, more accurate, and suitable for vehicle driving.

A Fusion Approach for UAV Onboard Flight Trajectory Management and Decision Making Based on the Combination of Enhanced A* Algorithm and Quadratic Programming

The rapid advancement of unmanned aerial vehicle (UAV) technologies has led to an increasing demand for UAV operations in low-altitude, high-density, and complex airspace such as mountains or urban areas. In order to handle complex scenarios and ensure flight safety for UAVs with different flight missions beyond visual line of sight in such environments, a fusion framework of onboard autonomous flight trajectory management and decision-making system using global strategical path planning and local tactical trajectory optimization combination is proposed in this paper. The global strategical path planning is implemented by an enhanced A* algorithm under the multi-constraint of UAV positioning uncertainty and obstacle density to improve the safety and cost-effectiveness. The local tactical trajectory optimization is realized using quadratic programming to ensure smoothness, kinematic feasibility, and obstacle avoidance of the planned trajectory in dynamic environments. Receding-horizon control is used to ensure the flight path and trajectory planning efficiently and seamlessly. To assess the performance of the system, a terrain database and a navigation system are employed for environment and navigation performance simulation. The experimental results confirm that the fusion approach can realize better safety and cost-effectiveness through path planning with kino-dynamic feasible trajectory optimization.

Global path planning for autonomous construction vehicles in building construction: A comparative study with a focus on vehicle kinematic characteristics

Technological advancements in robotics and automation have led to a growing emphasis on integration into construction industry from a global research context. In particular, autonomous construction vehicles (ACVs) stand out as a pivotal innovation. One key aspect of successful deployment of ACVs on construction sites is the path planning technology, especially the global path planning (GPP) methods. Thus, this study conducted a comparative study of the six GPP algorithms from various underlying principles, including graph search methods (e.g. Dijkstra and A*), sampling-based methods (e.g. rapidly exploring random tree (RRT) and rapidly exploring random tree star (RRT*)), evolutionary computation (e.g. genetic algorithms (GAs)), and artificial intelligence (e.g. deep Q learning (DQN)), to reveal how GPP algorithms perform on the travel of ACVs. These algorithms were evaluated with consideration of the kinematic characteristics of typical construction vehicles, including truck-trailers and excavators, within a typical unstructured real-world building construction site and based on two tasks and eight criteria encompassing efficiency and safety. The findings were analysed from three perspectives, i.e. the planned global paths and travel paths of ACVs, the performance of algorithms in each metric, and the overall performance of each algorithm, to identify the strengths of each GPP algorithm. GAs excel in generating smoother travel paths than others, whereas the global paths from RRT and DQN exhibit unpredictable changes, leading to a meandering travel paths for ACVs. The quality of global paths induces a greater impact on differential-wheeled excavators compared to front-wheel steering truck-trailers. Practical guidance can therefore be provided to select and improve the GPP algorithms and thereby to enhance the safety and efficiency of ACVs on construction sites.

A Context-Aware Navigation Framework for Ground Robots in Horticultural Environments.

Environmental mapping and robot navigation are the basis for realizing robot automation in modern agricultural production. This study proposes a new autonomous mapping and navigation method for gardening scene robots. First, a new LiDAR slam-based semantic mapping algorithm is proposed to enable the robots to analyze structural information from point cloud images and generate roadmaps from them. Secondly, a general robot navigation framework is proposed to enable the robot to generate the shortest global path according to the road map, and consider the local terrain information to find the optimal local path to achieve safe and efficient trajectory tracking; this method is equipped in apple orchards. The LiDAR was evaluated on a differential drive robotic platform. Experimental results show that this method can effectively process orchard environmental information. Compared with vnf and pointnet++, the semantic information extraction efficiency and time are greatly improved. The map feature extraction time can be reduced to 0.1681 s, and its MIoU is 0.812. The resulting global path planning achieved a 100% success rate, with an average run time of 4ms. At the same time, the local path planning algorithm can effectively generate safe and smooth trajectories to execute the global path, with an average running time of 36 ms.

Helix Formation from Hydrogen Bond Kinetics in Alanine Homopeptides

We present an analysis of α-helix folding in the coarse-grained coordinate of number of formed helical hydrogen bonds (NHBs) for four alanine peptides (ALA)n, with n = 5, 8, 15, and 21 residues. Starting with multi-microsecond all-atom molecular dynamics trajectories in aqueous solution, we represent the system dynamics in a space of between four (for ALA5) and twenty (for ALA21) hydrogen-bonding microstates. In all cases, transitions changing the hydrogen bond count by 1–2 dominate and the coil formation, NHB 1 → 0, is the fastest process. The calculation of global maximum weight paths shows that, when analyzed at a sufficiently long lag time, folding in the NHB coordinate is consecutive, with direct folding, 0 → 3, for ALA5 and bottlenecks at transitions 4 → 6 for ALA8, 0 → 5 for ALA15, and 0 → 9 for ALA21. Further coarse-graining to 2–4 dimensions was performed with the optimal dimensionality reduction method, allowing the identification of crucial folding intermediates and time scales of their formation in ALA8, ALA15, and ALA21. The detailed analysis of hydrogen bonding patterns revealed that folding is initiated preferentially at both peptide termini. The kinetic model was also used to estimate diffusion and friction coefficients for helix propagation. The description of the helix formation process in the hydrogen bonding coordinate NHB was in good general agreement with the experimental data and qualitatively similar to previous kinetic models of higher dimensions based on structural clustering. Use of the low-dimensional hydrogen bonding picture thus provides a different, complementary way of describing the complex and fascinating mechanism of helix formation.

Associations of glymphatic function with structural network and cognition in self-limited epilepsy with centrotemporal spikes

PurposeTo investigate glymphatic function by Virchow-Robin space (VRS) counts and volume in patients with newly diagnosed self-limited epilepsy with centrotemporal spikes (SeLECTS) and evaluate its relationship with structural connectivity and cognitive impairment. MethodsThirty-two children with SeLECTS and thirty-two age- and sex-matched typically developing (TD) children were enrolled in this study. VRS counts and volume were quantified. Structural networks were constructed and the topological metrics were analyzed. Wechsler Intelligence Scale (WISC) was used to assess cognitive function in all participants. Correlation analysis assessed the association between VRS counts and volume, network connectivity, and cognitive impairment. Mediation effects of topological metrics of the structural networks on the relationship between glymphatic function and cognitive impairment were explored. ResultsPatients with SeLECTS showed a higher VRS counts, VRS volume, and global shortest path length (Lp); they also showed a lower global efficiency (Eg). VRS counts and volume were significantly correlated with full-scale intelligence quotient (FIQ) (r_VRS counts = -0.520, r_VRS volume = -0.639), performance intelligence quotient (PIQ) (r_VRS counts = -0.693, r_VRS volume = -0.597), verbal intelligence quotient (VIQ) (r_VRS counts = -0.713, r_VRS volume = -0.699), Eg (r_VRS counts = -0.499, r_VRS volume = -0.490), and Lp (r_VRS volume = 0.671) in patients with SeLECTS. Eg mediated 24.59% of the effects for the relationship between VRS volume and FIQ. ConclusionGlymphatic function may be impaired in SeLECTS reflected by VRS counts and volume. Glymphatic dysfunction may result in cognitive impairment by disrupting structural connectivity in SeLECTS.

An Improved Hybrid Path Planning Algorithm in Indoor Environment

Abstract During the path planning of robots in the indoor unstructured complex environment, there are often problems such as unreachable target points, deflection in the planning process, and failure to avoid dynamic obstacles in time. To solve these problems, an improved hybrid indoor path planning algorithm was proposed, wherein the improved global path planning algorithm was effectually integrated with improved local path planning algorithm. Firstly, the heuristic factor of traditional A-Star algorithm was optimized, search range and nodes were reduced, and then the path generated by traditional A-Star algorithm for path planning was smoothed using the angle bisector tangent point method. Secondly, combining path and environment information, local path planning was undertaken by utilizing the improved artificial potential field algorithm, and the unreachable target points problem was addressed by adjusting the repulsive field parameters. Additionally, dynamic potential field function was constructed to make it have the ability to resolve dynamic obstacles. Finally, in the part of actual environment verification, a comparison was made in this paper to assess the performance of the traditional hybrid algorithm against the improved algorithm in terms of path planning. The consequences showed that, by the hybrid algorithm proposed in this paper, the path planning length was reduced by 10.3%, the running time was decreased by 12.5%, and 34 redundant nodes were eliminated. The consequences indicated that the hybrid algorithm can effectively address the indoor unstructured and complex path planning problems.

Development of Unmanned Aerial Vehicle Navigation and Warehouse Inventory System Based on Reinforcement Learning

In this paper, we present the exploration of indoor positioning technologies for UAVs, as well as navigation techniques for path planning and obstacle avoidance. The objective was to perform warehouse inventory tasks, using a drone to search for barcodes or markers to identify objects. For the indoor positioning techniques, we employed visual-inertial odometry (VIO), ultra-wideband (UWB), AprilTag fiducial markers, and simultaneous localization and mapping (SLAM). These algorithms included global positioning, local positioning, and pre-mapping positioning, comparing the merits and drawbacks of various techniques and trajectories. For UAV navigation, we combined the SLAM-based RTAB-map indoor mapping and navigation path planning of the ROS for indoor environments. This system enabled precise drone positioning indoors and utilized global and local path planners to generate flight paths that avoided dynamic, static, unknown, and known obstacles, demonstrating high practicality and feasibility. To achieve warehouse inventory inspection, a reinforcement learning approach was proposed, recognizing markers by adjusting the UAV’s viewpoint. We addressed several of the main problems in inventory management, including efficiently planning of paths, while ensuring a certain detection rate. Two reinforcement learning techniques, AC (actor–critic) and PPO (proximal policy optimization), were implemented based on AprilTag identification. Testing was performed in both simulated and real-world environments, and the effectiveness of the proposed method was validated.

Uncovering the academic evolution of VIKOR method: a comprehensive main path analysis

The rapid advancement of the VlseKriterijumska Optimizacija I Kompromisno Resenje (VIKOR) method has led to a substantial body of related literature. Reviewing and extracting the academic trajectory can be challenging, as conventional literature review studies and bibliometric approaches may prove ineffective. This paper proposes a comprehensive main path analysis (MPA) framework to unveil the knowledge structure within the field of VIKOR. By integrating global MPA, local MPA, and key-route MPA, this study reveals the significant developmental process and pivotal papers in the VIKOR domain. Employing multiple global main paths offers a more holistic understanding of the knowledge evolution network in VIKOR, enabling deeper exploration of research frontiers. To our knowledge, this is the first study to conduct an extensive MPA in the field of VIKOR, providing novel insights for scholars interested in comprehending VIKOR and inspiring future research.

A Multi-UAV cooperative mission planning method based on SA-WOA algorithm for three-dimensional space atmospheric environment detection

AbstractIn the application of rotorcraft atmospheric environment detection, to reflect the distribution of atmospheric pollutants more realistically and completely, the sampling points must be spread throughout the entire three-dimensional space, and the cooperation of multiple unmanned aerial vehicles (multi-UAVs) can ensure real-time performance and increase operational efficiency. In view of the problem of coordinated detection by multi-UAVs, the region division and global coverage path planning of the stereo space to be detected are studied. A whale optimization algorithm based on the simulated annealing-whale optimization algorithm (SA-WOA) is proposed, which introduces adaptive weights with the Levy flight mechanism, improves the metropolis criterion, and introduces an adaptive tempering mechanism in the SA stage. Path smoothing is subsequently performed with the help of nonuniform rational B-spline (NURBS) curves. The comparison of algorithms using the eil76 dataset shows that the path length planned by the SA-WOA algorithm in this paper is 10.15% shorter than that of the WOA algorithm, 13.25% shorter than the SA planning result, and only 0.95% difference from the optimal path length in the dataset. From the perspective of planning time, its speed is similar to WOA, with a relative speed increase of 27.15% compared to SA, proving that the algorithm proposed in this paper has good planning performance. A hardware system platform is designed and built, and environmental gas measurement experiments were conducted. The experimental results indicate that the multi-UAV collaborative environment detection task planning method proposed in this paper has certain practical value in the field of atmospheric environment detection.

Long-term navigation for autonomous robots based on spatio-temporal map prediction

The robotics community has witnessed a growing demand for long-term navigation of autonomous robots in diverse environments, including factories, homes, offices, and public places. The core challenge in long-term navigation for autonomous robots lies in effectively adapting to varying degrees of dynamism in the environment. In this paper, we propose a long-term navigation method for autonomous robots based on spatio-temporal map prediction. The time series model is introduced to learn the changing patterns of different environmental structures or objects on multiple time scales based on the historical maps and forecast the future maps for long-term navigation. Then, an improved global path planning algorithm is performed based on the time-variant predicted cost maps. During navigation, the current observations are fused with the predicted map through a modified Bayesian filter to reduce the impact of prediction errors, and the updated map is stored for future predictions. We run simulation and conduct several weeks of experiments in multiple scenarios. The results show that our algorithm is effective and robust for long-term navigation in dynamic environments.

Global transboundary transmission path and risk of Mpox revealed with Least Cost Path model

ObjectivesThe recent surge of Mpox outbreaks in multiple countries has garnered global attention. As of July 12, 2023, there have been 88,288 reported cases of Mpox worldwide. Although genetic variation was not found to be the cause of the epidemic outbreak, the reasons for its rapid spread remain unclear. MethodsUsing the niche method, this study identified high-risk regions for Mpox and determined that human factors are the primary contributors to global risks. To further investigate, a travel network resistance surface was created based on various modes of transportation and was combined with sea, airline, highway, and railway routes to construct the least cost path for human travel networks in different risk areas. ResultsThe results indicated that high-risk regions for Mpox are mainly concentrated in Europe and the United States, with large risk ranges and high-risk values. The least cost path revealed three primary transmission paths rely on developed transportation networks, including internal transmission in North America, Europe-Africa, and Europe-Asia-Africa. These findings suggest that human activities, facilitated by developed travel networks, remain the main contributing factor to the spread. ConclusionsIn summary, based on the Mpox epidemic report, this study conducted risk prediction and driving factor analysis on Mpox. The research results indicate that human use of transportation for long-distance activities is a key factor leading to the rapid spread of the virus. Subsequently, we focused on studying the global transmission pathways of Mpox and revealed several transmission pathways with high global population migration rates by constructing the LCPs between different high-risk areas. This study also emphasizes the importance of applying early monitoring data of Mpox to model risk prediction in controlling emerging infectious diseases, providing a new perspective for controlling Mpox and similar diseases.

THP: Tensor-field-driven hierarchical path planning for autonomous scene exploration with depth sensors

It is challenging to automatically explore an unknown 3D environment with a robot only equipped with depth sensors due to the limited field of view. We introduce THP, a tensor field-based framework for efficient environment exploration which can better utilize the encoded depth information through the geometric characteristics of tensor fields. Specifically, a corresponding tensor field is constructed incrementally and guides the robot to formulate optimal global exploration paths and a collision-free local movement strategy. Degenerate points generated during the exploration are adopted as anchors to formulate a hierarchical TSP for global path optimization. This novel strategy can help the robot avoid long-distance round trips more effectively while maintaining scanning completeness. Furthermore, the tensor field also enables a local movement strategy to avoid collision based on particle advection. As a result, the framework can eliminate massive, time-consuming recalculations of local movement paths. We have experimentally evaluate our method with a ground robot in 8 complex indoor scenes. Our method can on average achieve 14% better exploration efficiency and 21% better exploration completeness than state-of-the-art alternatives using LiDAR scans. Moreover, compared to similar methods, our method makes path decisions 39% faster due to our hierarchical exploration strategy.

Sampling-Based Global Path Planning Using Convex Polytope Approximation for Narrow Collision-Free Space of Humanoid

In this paper, we propose a computationally fast method of sampling-based global path planning for humanoids under Manifold Constraints such as closed kinematic chains and Volume-Reducing Constraints such as collision avoidance. In multi-contact and whole-body manipulation of humanoids, narrow collision-free space causes path planning to take a long computation time (narrow corridor problem). In previous research of constrained planning, Manifold Constraints are locally approximated by tangent plane, and steering motions along Manifold Constraints are found efficiently by projection or continuation methods. In this paper, we applied constrained planning algorithms to collision avoidance. Since tangent plane cannot approximate Volume-Reducing Constraints, we adopted convex polytope instead of tangent plane. Both Manifold Constraints and Volume-Reducing Constraints are locally approximated by convex polytope with linear equality and inequality constraints, and steering motions inside the convex polytope are found efficiently by the SQP-based prioritized inverse kinematics. We developed CP-KPIECE (Convex Polytope approximation-based KPIECE) with this approach. Benchmarks using the humanoid JAXON proved the effectiveness of our approach for fast path planning in narrow collision-free space of humanoids.

Research on autonomous navigation system of greenhouse electric crawler tractor based on LiDAR.

The application of autonomous navigation technology of electric crawler tractors is an important link in the development of intelligent greenhouses. Aiming at the characteristics of enclosed and narrow space and uneven ground potholes in greenhouse planting, to improve the intelligence level of greenhouse electric crawler tractors, this paper develops a navigation system of electric crawler tractors for the greenhouse planting environment based on LiDAR technology. The navigation hardware system consists of five modules: the information perception module, the control module, the communication module, the motion module, and the power module. The software system is composed of three layers: the application layer, the data processing layer, and the execution layer. The developed navigation system uses LiDAR, Inertial Measurement Unit (IMU) and wheel speed sensor to sense the greenhouse environment and the crawler tractor's information, employs the Gmapping algorithm to build the greenhouse environment map, and utilizes the adaptive Monte Carlo positioning algorithm for positioning. The simulation test of different global path planning algorithms in Matlab shows that the A* algorithm obtains the optimal overall global path. In the scene of map 5, the path planned by the A* algorithm is the most significant, and the number of inflection points is reduced by 40.00% and 87.50%, respectively; meanwhile, the path length is the same as that of the Dijkstra algorithm, but the runtime is reduced by 68.87% and 81.49%, respectively; compared with the RRT algorithm, the path length is reduced by 7.27%. Therefore, the A* algorithm and the Dynamic Window Approach (DWA) method are used for tractor navigation and obstacle avoidance, which ensures global path optimality while also achieving effective local path planning for obstacle avoidance. The test results suggest that the maximum lateral deviation of the built map is 6cm, and the maximum longitudinal deviation is 16cm, which meets the requirement of map accuracy. Additionally, the results of the navigation accuracy test indicate that the maximum lateral deviation of navigation is less than 13cm, the average lateral deviation is less than 7cm, and the standard lateral deviation is less than 8cm. The maximum heading deviation is less than 14°, the average heading deviation is less than 7°, and the standard deviation is less than 8°. These results show that the developed navigation system meets the navigation accuracy requirements of electric crawler tractors in the greenhouse environment.

A Routing Algorithm for Underwater Acoustic– Optical Hybrid Wireless Sensor Networks Based on Intelligent Ant Colony Optimization and Energy-Flexible Global Optimal Path Selection

A Routing Algorithm for Underwater Acoustic– Optical Hybrid Wireless Sensor Networks Based on Intelligent Ant Colony Optimization and Energy-Flexible Global Optimal Path Selection