Smooth path planning method of agricultural vehicles based on improved Hybrid A*

Smooth path planning is a significant part of agricultural vehicles, and it is the key to ensuring the safe operation of agricultural vehicles, shortening the mileage, and improving operating efficiency. However, subject to the dynamic constraints of the Ackermann structure, the path planning system of agricultural vehicles faces the complex situation of irregular boundaries and obstacles in the field, these all increase the difficulty of path planning research. Aiming at the above problems, a smooth path planning algorithm based on Hybrid A* and Reeds-Shepp curves is proposed. The generated path not only satisfies the incomplete constraints of agricultural vehicles but also can generate optimal smooth paths for different operation scenarios, effectively improving the efficiency of agricultural vehicle operations. Reduced unnecessary mileage. Through the simulation verification of the ROS platform, the algorithm can obtain a smoother and easier-to-follow obstacle avoidance path, which verifies the practicability, reliability, and flexibility of the algorithm.