A Farmland Navigation Path Planning System and Method Based on Graph Search

Abstract

This invention discloses a graph search-based farmland navigation path planning system for autonomous vehicles. The system includes: a farmland data collection component for acquiring farmland latitude and longitude information, starting ridge width, vehicle travel direction angle, vehicle turning anchor point position, and farmland size; a farmland structure partitioning component for partitioning the farmland structure, including starting ridge, ending ridge, far end, near end, number of ridges, turning anchor point position, and obstacle positions within the turning radius of the far and near ends; a node graph construction component for constructing a cost matrix for transitions between any two nodes; and a path search and selection component for performing a depth-first path search on the node graph based on the cost matrix, selecting the path with the minimum total path cost from the searched paths as the vehicle's farmland navigation path for the current farmland.

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