Simulation of Apple Picking Path Planning Based On Artificial Potential Field Method

2018 4th International Conference on Environmental Science and Material Application

生态环境科学;材料科学

Xie, Junlin^1 ; Zhang, Zhiyong^1 ; Wei, Ziyi^1 ; Ma, Saiwei^1

College of Information Engineering, Northwest Agriculture and Forest University, YangLing, Shaanxi

712100, China^1

关键词: Artificial potential field method;    Artificial potential fields;    Avoid obstacles;    Graphical interface;    Harvesting robot;    Path planning method;    Smooth obstacle avoidances;    Three dimensional space;   

Others  :  https://iopscience.iop.org/article/10.1088/1755-1315/252/5/052148/pdf
DOI  :  10.1088/1755-1315/252/5/052148

来源: IOP

【 摘 要 】

This paper aims at the problem of picking path design for apple harvesting robot manipulator in dynamic and unstructured environmen, and according to the obstacle avoidance situation and non obstacle avoidance situation, the picking path design is achieved respectively. The non obstacle avoidance path is designed by the default path planning method and the artificial potential field method is used to avoid obstacles. By combining the characteristics of obstacles in the growth environment of fruit trees, the principle of two-dimensional potential application in artificial potential field is transferred to three-dimensional space, and a more smooth obstacle avoidance motion curve is obtained. The proposed picking path planning method is verified by Java graphical interface and MATLAB. The results show that picking path planning based on artificial potential field can effectively avoid obstacles and achieve timely and reliable picking.