Optimizing the Path of Plug Tray Seedling Transplanting by Using the Improved A* Algorithm

In greenhouse nurseries, one of the important tasks automatic transplanter is replanting missing or bad seedling holes with healthy seedlings. This requires to spend significant time moving between supply trays and target during replanting. The diversity complexity transplanting routes affect efficiency. Path planning method can find a better path for manipulator improve efficiency transplantation. A* algorithm (A*), which optimal search algorithms, often used in practical applications planning. this paper, heuristic function optimized by ant colony (ACA), an improved (Imp-A*) obtained. Simulation tests trials Imp-A*, A*, ACA, Dijkstra (DA), common sequence (CSM) were carried out using 32-, 50-, 72-, 128-hole plug trays. results show that Imp-A* inherits advantages ACA terms length computation time. Compared DA, CSM, was reduced 2.4%, 12.84%, 11.63%, 14.27%, respectively. just six tasks, saves 60.91 s compared average saving 10.15 per tray. combination optimization has similar application prospects agriculture.