{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,1,31]],"date-time":"2026-01-31T06:14:15Z","timestamp":1769840055489,"version":"3.49.0"},"reference-count":32,"publisher":"MDPI AG","issue":"15","license":[{"start":{"date-parts":[[2024,7,25]],"date-time":"2024-07-25T00:00:00Z","timestamp":1721865600000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"the Shandong Province Key Research and Development Plan (Major Science and Technology Innovation Project)","award":["2022CXGC020706"],"award-info":[{"award-number":["2022CXGC020706"]}]},{"name":"the Shandong Province Key Research and Development Plan (Major Science and Technology Innovation Project)","award":["2022DXAL0208"],"award-info":[{"award-number":["2022DXAL0208"]}]},{"name":"the Shandong Province Key Research and Development Plan (Major Science and Technology Innovation Project)","award":["No. 2023TSGC0288"],"award-info":[{"award-number":["No. 2023TSGC0288"]}]},{"name":"the Shandong Province Key Research and Development Plan (Major Science and Technology Innovation Project)","award":["No. 202333067"],"award-info":[{"award-number":["No. 202333067"]}]},{"name":"Shandong Model Construction Project for Rural Revitalization","award":["2022CXGC020706"],"award-info":[{"award-number":["2022CXGC020706"]}]},{"name":"Shandong Model Construction Project for Rural Revitalization","award":["2022DXAL0208"],"award-info":[{"award-number":["2022DXAL0208"]}]},{"name":"Shandong Model Construction Project for Rural Revitalization","award":["No. 2023TSGC0288"],"award-info":[{"award-number":["No. 2023TSGC0288"]}]},{"name":"Shandong Model Construction Project for Rural Revitalization","award":["No. 202333067"],"award-info":[{"award-number":["No. 202333067"]}]},{"name":"Shandong Province Science- and Technology-Oriented Small and Medium Enterprises Enhancement Project","award":["2022CXGC020706"],"award-info":[{"award-number":["2022CXGC020706"]}]},{"name":"Shandong Province Science- and Technology-Oriented Small and Medium Enterprises Enhancement Project","award":["2022DXAL0208"],"award-info":[{"award-number":["2022DXAL0208"]}]},{"name":"Shandong Province Science- and Technology-Oriented Small and Medium Enterprises Enhancement Project","award":["No. 2023TSGC0288"],"award-info":[{"award-number":["No. 2023TSGC0288"]}]},{"name":"Shandong Province Science- and Technology-Oriented Small and Medium Enterprises Enhancement Project","award":["No. 202333067"],"award-info":[{"award-number":["No. 202333067"]}]},{"name":"Jinan 2023 Talent Development Special Fund Research Leader Studio Project","award":["2022CXGC020706"],"award-info":[{"award-number":["2022CXGC020706"]}]},{"name":"Jinan 2023 Talent Development Special Fund Research Leader Studio Project","award":["2022DXAL0208"],"award-info":[{"award-number":["2022DXAL0208"]}]},{"name":"Jinan 2023 Talent Development Special Fund Research Leader Studio Project","award":["No. 2023TSGC0288"],"award-info":[{"award-number":["No. 2023TSGC0288"]}]},{"name":"Jinan 2023 Talent Development Special Fund Research Leader Studio Project","award":["No. 202333067"],"award-info":[{"award-number":["No. 202333067"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>With the development of smart agriculture, autopilot technology is being used more and more widely in agriculture. Because most of the current global path planning only considers the shortest path, it is difficult to meet the articulated steering tractor operation needs in the orchard environment and address other issues, so this paper proposes a hybrid algorithm of an improved bidirectional search A* algorithm and improved differential evolution genetic algorithm(AGADE). First, the integrated priority function and search method of the traditional A* algorithm are improved by adding weight influence to the integrated priority, and the search method is changed to a bidirectional search. Second, the genetic algorithm fitness function and search strategy are improved; the fitness function is set as the path tree row center offset factor; the smoothing factor and safety coefficient are set; and the search strategy adopts differential evolution for cross mutation. Finally, the shortest path obtained by the improved bidirectional search A* algorithm is used as the initial population of an improved differential evolution genetic algorithm, optimized iteratively, and the optimal path is obtained by adding kinematic constraints through a cubic B-spline curve smoothing path. The convergence of the AGADE hybrid algorithm and GA algorithm on four different maps, path length, and trajectory curve are compared and analyzed through simulation tests. The convergence speed of the AGADE hybrid algorithm on four different complexity maps is improved by 92.8%, 64.5%, 50.0%, and 71.2% respectively. The path length is slightly increased compared with the GA algorithm, but the path trajectory curve is located in the center of the tree row, with fewer turns, and it meets the articulated steering tractor operation needs in the orchard environment, proving that the improved hybrid algorithm is effective.<\/jats:p>","DOI":"10.3390\/s24154832","type":"journal-article","created":{"date-parts":[[2024,7,25]],"date-time":"2024-07-25T11:43:44Z","timestamp":1721907824000},"page":"4832","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":5,"title":["Global Path Planning for Articulated Steering Tractor Based on Multi-Objective Hybrid Algorithm"],"prefix":"10.3390","volume":"24","author":[{"given":"Ning","family":"Xu","sequence":"first","affiliation":[{"name":"College of Agricultural Engineering and Food Science, Shandong University of Technology, Zibo 255000, China"},{"name":"Shandong Academy of Agricultural Machinery Sciences, Jinan 252100, China"},{"name":"Huang Huai Hai Key Laboratory of Modern Agricultural Equipment, Ministry of Agriculture and Rural Affairs, Jinan 250100, China"}]},{"given":"Zhihe","family":"Li","sequence":"additional","affiliation":[{"name":"College of Agricultural Engineering and Food Science, Shandong University of Technology, Zibo 255000, China"}]},{"given":"Na","family":"Guo","sequence":"additional","affiliation":[{"name":"College of Agricultural Engineering and Food Science, Shandong University of Technology, Zibo 255000, China"},{"name":"Shandong Academy of Agricultural Machinery Sciences, Jinan 252100, China"}]},{"given":"Te","family":"Wang","sequence":"additional","affiliation":[{"name":"School of Automotive Engineering, Shandong Jiaotong University, Jinan 252100, China"}]},{"given":"Aijuan","family":"Li","sequence":"additional","affiliation":[{"name":"School of Automotive Engineering, Shandong Jiaotong University, Jinan 252100, China"}]},{"given":"Yumin","family":"Song","sequence":"additional","affiliation":[{"name":"School of Automotive Engineering, Shandong Jiaotong University, Jinan 252100, China"}]}],"member":"1968","published-online":{"date-parts":[[2024,7,25]]},"reference":[{"key":"ref_1","first-page":"116","article-title":"Optimization design of the waist-steering mechanism based on the interior point method","volume":"41","author":"Liu","year":"2020","journal-title":"J. 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