Unmanned vehicle path planning for orchards based on improved bidirectional A* algorithm

This paper presents an enhanced bidirectional A* algorithm tailored for orchard unmanned vehicles' path planning. It integrates a bidirectional search approach and a turn cost function to bolster safety and efficiency in pathfinding. Notably, the evaluation function undergoes modification to facilitate adaptive adjustments in heuristic term weights, thereby curtailing turning points and path length. To ensure alignment with practical needs, a cubic B-spline curve is employed for path smoothing. Simulation and experimental data substantiate the algorithm's efficacy, revealing a notable 30.08% reduction in navigation distance deviation.