Collision-Free Path-Planning for Six-DOF Serial Harvesting Robot Based on Energy Optimal and Artificial Potential Field
Joint Authors
Luo, Lufeng
Wen, Hanjin
Lu, Qinghua
Huang, Haojie
Chen, Weilin
Zou, Xiangjun
Wang, Chenglin
Source
Issue
Vol. 2018, Issue 2018 (31 Dec. 2018), pp.1-12, 12 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2018-11-01
Country of Publication
Egypt
No. of Pages
12
Main Subjects
Abstract 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.
American Psychological Association (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
Modern Language Association (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
American Medical Association (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
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1133658