Collision-Free Path-Planning for Six-DOF Serial Harvesting Robot Based on Energy Optimal and Artificial Potential Field
المؤلفون المشاركون
Luo, Lufeng
Wen, Hanjin
Lu, Qinghua
Huang, Haojie
Chen, Weilin
Zou, Xiangjun
Wang, Chenglin
المصدر
العدد
المجلد 2018، العدد 2018 (31 ديسمبر/كانون الأول 2018)، ص ص. 1-12، 12ص.
الناشر
Hindawi Publishing Corporation
تاريخ النشر
2018-11-01
دولة النشر
مصر
عدد الصفحات
12
التخصصات الرئيسية
الملخص EN
Collision-free autonomous path planning under a dynamic and uncertainty vineyard environment is the most important issue which needs to be resolved firstly in the process of improving robotic harvesting manipulator intelligence.
We present and apply energy optimal and artificial potential field to develop a path planning method for six degree of freedom (DOF) serial harvesting robot under dynamic uncertain environment.
Firstly, the kinematical model of Six-DOF serial manipulator was constructed by using the Denavit-Hartenberg (D-H) method.
The model of obstacles was defined by axis-aligned bounding box, and then the configuration space of harvesting robot was described by combining the obstacles and arm space of robot.
Secondly, the harvesting sequence in path planning was computed by energy optimal method, and the anticollision path points were automatically generated based on the artificial potential field and sampling searching method.
Finally, to verify and test the proposed path planning algorithm, a virtual test system based on virtual reality was developed.
After obtaining the space coordinates of grape picking point and anticollision bounding volume, the path points were drew out by the proposed method.
10 times picking tests for grape anticollision path planning were implemented on the developed simulation system, and the success rate was up to 90%.
The results showed that the proposed path planning method can be used to the harvesting robot.
نمط استشهاد جمعية علماء النفس الأمريكية (APA)
Luo, Lufeng& Wen, Hanjin& Lu, Qinghua& Huang, Haojie& Chen, Weilin& Zou, Xiangjun…[et al.]. 2018. Collision-Free Path-Planning for Six-DOF Serial Harvesting Robot Based on Energy Optimal and Artificial Potential Field. Complexity،Vol. 2018, no. 2018, pp.1-12.
https://search.emarefa.net/detail/BIM-1133658
نمط استشهاد الجمعية الأمريكية للغات الحديثة (MLA)
Luo, Lufeng…[et al.]. Collision-Free Path-Planning for Six-DOF Serial Harvesting Robot Based on Energy Optimal and Artificial Potential Field. Complexity No. 2018 (2018), pp.1-12.
https://search.emarefa.net/detail/BIM-1133658
نمط استشهاد الجمعية الطبية الأمريكية (AMA)
Luo, Lufeng& Wen, Hanjin& Lu, Qinghua& Huang, Haojie& Chen, Weilin& Zou, Xiangjun…[et al.]. Collision-Free Path-Planning for Six-DOF Serial Harvesting Robot Based on Energy Optimal and Artificial Potential Field. Complexity. 2018. Vol. 2018, no. 2018, pp.1-12.
https://search.emarefa.net/detail/BIM-1133658
نوع البيانات
مقالات
لغة النص
الإنجليزية
الملاحظات
Includes bibliographical references
رقم السجل
BIM-1133658
قاعدة معامل التأثير والاستشهادات المرجعية العربي "ارسيف Arcif"
أضخم قاعدة بيانات عربية للاستشهادات المرجعية للمجلات العلمية المحكمة الصادرة في العالم العربي
تقوم هذه الخدمة بالتحقق من التشابه أو الانتحال في الأبحاث والمقالات العلمية والأطروحات الجامعية والكتب والأبحاث باللغة العربية، وتحديد درجة التشابه أو أصالة الأعمال البحثية وحماية ملكيتها الفكرية. تعرف اكثر