Towards autonomous selective harvesting: A review of robot perception, robot design, motion planning and control

Review; Early Access

关键词: MOVEMENT PRIMITIVES;    FIELD-EVALUATION;    LITCHI CLUSTERS;    APPLE DETECTION;    FRUIT;    STRAWBERRY;    PICKING;    LOCALIZATION;    TOMATO;    SYSTEM;   

DOI  :  10.1002/rob.22230

来源: SCIE

【 摘 要 】

This paper provides an overview of the current state-of-the-art in selective harvesting robots (SHRs) and their potential for addressing the challenges of global food production. SHRs have the potential to increase productivity, reduce labor costs, and minimize wastage by selectively harvesting only ripe fruits and vegetables. The paper discusses the main components of SHRs, including perception, grasping, cutting, motion planning, and control. It also highlights the challenges in developing SHR technologies, particularly in the areas of robot design, motion planning, and control. The paper also discusses the potential benefits of integrating artificial intelligence and soft robots and data-driven methods to enhance the performance and robustness of SHR systems. Finally, the paper identifies several open research questions in the field and highlights the need for further research and development efforts to advance SHR technologies to meet the challenges of global food production. Overall, this paper provides a starting point for researchers and practitioners interested in developing SHRs and highlights the need for more research in this field.

【 授权许可】

Free