Resumen
To improve the obstacle avoidance ability of agricultural unmanned aerial vehicles (UAV) in farmland settings, a three-dimensional space path planning model based on the R5DOS model is proposed in this paper. The direction layer of the R5DOS intersection model is improved, and the RJA-star algorithm is constructed with the improved jump point search A-star algorithm in our paper. The R5DOS model is simulated in MATLAB. The simulation results show that this model can reduce the computational complexity, computation time, the number of corners and the maximum angles of the A-star algorithm. Compared with the traditional algorithm, the model can avoid obstacles effectively and reduce the reaction times of the UAV. The final fitting results show that compared with A-star algorithm, the RJA-star algorithm reduced the total distance by 2.53%, the computation time by 97.65%, the number of nodes by 99.96% and the number of corners by 96.08% with the maximum corners reduced by approximately 63.30%. Compared with the geometric A-star algorithm, the running time of the RJA-star algorithm is reduced by 95.84%, the number of nodes is reduced by 99.95%, and the number of turns is reduced by 67.28%. In general, the experimental results confirm the effectiveness and feasibility of RJA star algorithm in three-dimensional space obstacle avoidance.