Path Optimization of Agricultural Robot Based on Immune Ant Colony: B-Spline Interpolation Algorithm.

This study presents a path planning algorithm based on immune ant colony B spline interpolation to eliminate path duplication and corner inflection points, increase the smoothness of the agricultural robot's path trajectory, and enhance the path planning performance. Firstly, this study improves the convergence speed of the algorithm by introducing an adaptive factor that obeys the normal distribution to optimize the path heuristic function. Secondly, to strengthen the variety of the target path search, an immune algorithm was utilized to perform a global investigation of the appropriate routes and assign the initial pheromones of the ant colony. Then, the adaptive judgment factor is introduced based on the incentive degree function and the pheromone evaporation coefficient, and the update formula are adjusted to promote the algorithm's flexibility while suppressing the optimal regional problem. Finally, the pathways are processed using a cubic B spline interpolation method to remove the edges and minimize the peak inflection points. To verify the specific optimization performance of the algorithm in this paper, we have selected the same type of improved algorithm as a comparison and tested it in a raster map model. The simulation results demonstrate that the values of the proposed algorithm paths and the standard deviation of the tracks are smaller than the comparison algorithm, which indicates the higher performance of the algorithm in searching the optimal routes and more flexible and accurate search. Compared with the comparison algorithm, the average time-consuming reduction rate of the algorithm in this paper is between 38% and 45% in different grid maps, and the number of turns is reduced by 33% to 58%. It meets the requirements of the actual work on the robot. [ABSTRACT FROM AUTHOR]