Harvest motion planning for mango picking robot based on improved RRT-Connect

IF 4.4 1区 农林科学 Q1 AGRICULTURAL ENGINEERING
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Abstract

Aiming at the problems of long motion path planning time and low picking efficiency of picking robots in unstructured orchard environments, a heuristic dynamic Rapidly-exploring Random Tree Connect motion planning algorithm (HDRRT-Connect) for picking robots for fast mango harvesting path planning was proposed in this study. The algorithm was obtained by introducing adaptive target gravitation strategy and heuristic dynamic step strategy based on RRT-Connect algorithm. It adjusts the step-size according to the information of the orchard environment as well as the path searching situation, so as to avoid falling into the local optimum of the path. The prototype based on the algorithm was used to carry out picking experiments in the natural orchard environment. The prototype picking test under the natural environment of the orchard is carried out, and the test results showed that the average path cost of the HDRRT-Connect algorithm was 95.7739, the average planning time was 0.448 s, and the success rate was 90%. Compared with the RRT, RRT-Connect and Probabilistic Roadmaps (PRM) algorithms, the HDRRT-Connect planning speed was improved by 95%, 24% and 59%, respectively, and the path cost was reduced by 35%, 13% and 18%, respectively. The results of the experiment verified the feasibility and efficiency of the improved algorithm. The HDRRT-Connect algorithm proposed in this study could effectively shorten the planning time, reduce the search path cost and improve the planning success rate. The research provides technical support for the fast-harvesting operation of mango picking robot.
基于改进型 RRT-Connect 的芒果采摘机器人收获运动规划
针对采摘机器人在非结构化果园环境中运动路径规划时间长、采摘效率低的问题,本研究提出了一种启发式动态快速探索随机树连接运动规划算法(HDRRT-Connect),用于采摘机器人快速采摘芒果的路径规划。该算法在 RRT-Connect 算法的基础上引入了自适应目标重力策略和启发式动态步长策略。它根据果园环境信息和路径搜索情况调整步长,以避免陷入路径的局部最优。基于该算法的原型在自然果园环境中进行了采摘试验。进行了果园自然环境下的原型采摘试验,试验结果表明,HDRRT-Connect 算法的平均路径代价为 95.7739,平均规划时间为 0.448 s,成功率为 90%。与 RRT、RRT-Connect 和概率路线图(PRM)算法相比,HDRRT-Connect 规划速度分别提高了 95%、24% 和 59%,路径成本分别降低了 35%、13% 和 18%。实验结果验证了改进算法的可行性和高效性。本研究提出的 HDRRT-Connect 算法能有效缩短规划时间,降低搜索路径成本,提高规划成功率。该研究为芒果采摘机器人的快速采摘作业提供了技术支持。
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来源期刊
Biosystems Engineering
Biosystems Engineering 农林科学-农业工程
CiteScore
10.60
自引率
7.80%
发文量
239
审稿时长
53 days
期刊介绍: Biosystems Engineering publishes research in engineering and the physical sciences that represent advances in understanding or modelling of the performance of biological systems for sustainable developments in land use and the environment, agriculture and amenity, bioproduction processes and the food chain. The subject matter of the journal reflects the wide range and interdisciplinary nature of research in engineering for biological systems.
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