Physics-Based Motion Planning of a Fruit Harvesting Manipulator for Pushing Obstacles in a Cluttered Environment

Miyuki Nakamura, Yosuke Kawasaki, Masaki Takahashi

研究成果: Conference contribution

抄録

Recently, the agricultural population is decreasing, and the demand for autonomous agricultural robots has increased. For a robot to successfully harvest fruits in diverse environments, various obstacles must be pushed away from its path. During the pushing motion, however, gravity acts on the fruits, causing them to move back and forth and return to their original state after being pushed away. This results in fruit-to-fruit contact, and fruit damage may occur. Therefore, a method to avoid obstacles while reducing the risk of fruit damage is required. However, the direct consideration of fruit damage is difficult because it requires many parameters that are difficult to observe. Herein, we propose a motion planning method by considering the potential energy of fruits as an evaluation index, which could be calculated based on observable parameters; this consideration could also suppress the reciprocating motion of fruits, thus preventing fruit damage. The proposed method was evaluated through simulations, and its effectiveness was verified.

本文言語English
ホスト出版物のタイトルIntelligent Autonomous Systems 17 - Proceedings of the 17th International Conference IAS-17
編集者Ivan Petrovic, Ivan Markovic, Emanuele Menegatti
出版社Springer Science and Business Media Deutschland GmbH
ページ204-215
ページ数12
ISBN(印刷版)9783031222153
DOI
出版ステータスPublished - 2023
イベント17th International Conference on Intelligent Autonomous Systems, IAS-17 - Zagreb, Croatia
継続期間: 2022 6月 132022 6月 16

出版物シリーズ

名前Lecture Notes in Networks and Systems
577 LNNS
ISSN(印刷版)2367-3370
ISSN(電子版)2367-3389

Conference

Conference17th International Conference on Intelligent Autonomous Systems, IAS-17
国/地域Croatia
CityZagreb
Period22/6/1322/6/16

ASJC Scopus subject areas

  • 制御およびシステム工学
  • 信号処理
  • コンピュータ ネットワークおよび通信

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