Path Planning of Mecanum Wheel Chassis Based on Improved A* Algorithm

This study is concerned with path planning in a structured greenhouse, contrast to much of the previous research addressing applications outdoor fields. The prototype mainly comprises an independently driven Mecanum wheel, lidar measuring module, single-chip microcomputer control board, and laptop computer. Environmental information collection mapping were completed on basis computer connection. algorithm used this paper expanded 8-search-neighborhood traditional A* 48-search-neighborhood, increasing search direction improving efficiency planning. Floyd was integrated smooth planned reduced turning points path. In way, problems could be solved (i.e., slow speed high numbers redundant points). Tests showed that points, time, distance improved lowest. Compared algorithm, point by 50%, time 13.53%, 13.96%. Therefore, method proposed improves precision reduces providing theoretical for navigation, inspection, standardization construction greenhouses future.