Intelligent mower path planning based on improved A* algorithm
Junfei Wang, Linjie Dong, Yadong Ren, Tianyou Cai, Mengqian Tian, Xingsong Wang · 2024
With the continuous focus on environmental issues, the greening of the grassland has also received attention, and the demand for the automated maintenance of the grassland is also escalating. Therefore, the intelligent mower is playing an increasingly crucial role. This paper addresses the issue of the working path planning of the mower based on the improvement of the A* algorithm. After obtaining the working map, obstacle expansion processing is initially conducted to avert collisions, then the area is divided and the path is pre-planned in a serpentine, and finally, the improved A* algorithm is employed to connect the paths at the beginning and end of each area. Additionally, path optimization has been made for the actual requirements to strengthen the operating reliability and stability. And the DWA algorithm is introduced to achieve dynamic obstacle avoidance and to enhance the versatility and safety of the mower. Finally, the experiment verified the feasibility and reliability of the algorithm.