Motion Planning of the Citrus-Picking Manipulator Based on the TO-RRT Algorithm

Motion Planning of the Citrus-Picking Manipulator Based on the TO-RRT Algorithm

The working environment of a picking robot is complex, and the motion-planning algorithm of the picking manipulator will directly affect the obstacle avoidance effect and picking efficiency of the manipulator. In this study, a time-optimal rapidly-exploring random tree (TO-RRT) algorithm is proposed...

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Bibliographic Details
Main Authors: Cheng Liu, Qingchun Feng, Zuoliang Tang, Xiangyu Wang, Jinping Geng, Lijia Xu
Format: Article
Language:English
Published: MDPI AG 2022-04-01
Series:Agriculture
Subjects:
picking manipulator
motion planning
TO-RRT
step-size dichotomy
regression superposition
Online Access:https://www.mdpi.com/2077-0472/12/5/581

Internet

https://www.mdpi.com/2077-0472/12/5/581

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