Development of a Collision-Free Path Planning Method for a 6-DoF Orchard Harvesting Manipulator Using RGB-D Camera and Bi-RRT Algorithm

Development of a Collision-Free Path Planning Method for a 6-DoF Orchard Harvesting Manipulator Using RGB-D Camera and Bi-RRT Algorithm

With the decreasing and aging agricultural workforce, fruit harvesting robots equipped with higher degrees of freedom (DoF) manipulators are seen as a promising solution for performing harvesting operations in unstructured and complex orchard environments. In such a complex environment, guiding the...

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Bibliographic Details
Main Authors: Zifu Liu, Rizky Mulya Sampurno, R. M. Rasika D. Abeyrathna, Victor Massaki Nakaguchi, Tofael Ahamed
Format: Article
Language:English
Published: MDPI AG 2024-12-01
Series:Sensors
Subjects:
path planning
Bi-RRT
collision-free
6-DoF manipulator
harvesting robots
Online Access:https://www.mdpi.com/1424-8220/24/24/8113
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