Research of algorithms of robot movement trajectory in an industrial greenhouse
DOI:
https://doi.org/10.31548/energiya4(86).2026.038Keywords:
Autonomous robotic platform, industrial greenhouse, A* algorithm, , LiDAR sensor, navigation, trajectory, point cloud, precision agricultureAbstract
The article presents a study and comparative analysis of algorithms for constructing the trajectory of autonomous robotic platforms in industrial greenhouses. The feasibility of using Lidar sensors for high-precision scanning of the surrounding space (360°) and building digital maps in real time regardless of lighting conditions is substantiated. The results of experiments confirmed that the use of the A* algorithm allows optimizing computational costs, checking 7.7 times fewer nodes compared to the breadth-first search algorithm, which provides positioning accuracy with a deviation of up to 2 cm. The resulting modular architecture of the control system allows integrating additional subsystems of technical vision and obstacle avoidance for full automation of technological operations in horticulture
Recieved: 02.06.2026. Recieved: 25.07.2026. Accepted: 20.08.2026
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