Smoothing obstacle avoidance path planning based on C-space for harvesting robot
Chinese Control Conference, CCC(2013)
摘要
The path planning for harvesting mechanical arm to avoid obstacle is studied for the working needs based on the known fruits and obstacles information. Firstly, the obstacles were equivalent to point-shaped, round-shaped and line-shaped obstacles according to their growth characteristics in the picking environment, and then they were built model by the boundary feature and done the rasterization in C-space. At last, the smoothing direction-first path planning algorithm based on tree structure was presented, which accomplished the local obstacle avoidance path planning of apple harvesting robot in C-space. © 2013 TCCT, CAA.
更多查看译文
关键词
mechanical arm,obstacle avoidance,path planning,robot,robot kinematics,rasterization,agricultural machinery,crops,tree structure,computational modeling,c space,algorithm design and analysis
AI 理解论文
溯源树
样例
生成溯源树,研究论文发展脉络