K-Means Partitioned Space Path Planning (KPSPP) for Autonomous Robotic Harvesting
A three-dimensional coverage path-planning algorithm is proposed for discrete harvesting machines. Although prior research has developed methods for coverage planning in continuous-crop fields, no such algorithm has been developed for discrete crops such as trees. The problem is formulated as a grap...
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
SAGE Publishing
2015-11-01
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| Series: | International Journal of Advanced Robotic Systems |
| Online Access: | https://doi.org/10.5772/61816 |
| Summary: | A three-dimensional coverage path-planning algorithm is proposed for discrete harvesting machines. Although prior research has developed methods for coverage planning in continuous-crop fields, no such algorithm has been developed for discrete crops such as trees. The problem is formulated as a graph traversal problem and solved using graph techniques. Paths to facilitate autonomous operation are generated. A case study is formed around the novel tree-to-tree felling system developed by the University of Canterbury and Scion. This machine is being developed to manoeuvre through New Zealand's plantation forest to fell Pinus radiata trees on steep (≤ 45°) terrain. Algorithm performance is evaluated in 14 commercial plantation forests. Results indicate that a mean coverage of 84.43% was achieved. |
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| ISSN: | 1729-8814 |