Lawn trimming robot path planning method based on improved RRT algorithm

A lawn trimming robot path planning method based on an improved RRT algorithm covers a map based on a spiral traversal method to establish a real-time grid map, global path planning is performed according to a spiral direction, local path planning is performed by using the improved RRT algorithm when encountering an obstacle, the constructed map has good global consistency, and the path planning precision is improved. Through a navigation scheme combining global path planning and local path planning dynamic obstacle avoidance, the overall path optimization efficiency is improved after a potential field method and dynamic step length search are combined, obstacle avoidance is performed by adjusting the extension direction of a random tree through the potential field method, the efficiency and precision of path expansion are improved by changing the extension step length, and compared with other algorithms, the method has the advantages that the optimization efficiency is greatly improved. The method has great