TY - GEN
T1 - Physics-Based Motion Planning of a Fruit Harvesting Manipulator for Pushing Obstacles in a Cluttered Environment
AU - Nakamura, Miyuki
AU - Kawasaki, Yosuke
AU - Takahashi, Masaki
N1 - Publisher Copyright:
© 2023, The Author(s), under exclusive license to Springer Nature Switzerland AG.
PY - 2023
Y1 - 2023
N2 - 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.
AB - 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.
KW - Cluttered environment
KW - Harvesting robot
KW - Kinodynamic motion planning
KW - Manipulation
KW - Physics-based motion planning
UR - http://www.scopus.com/inward/record.url?scp=85148742179&partnerID=8YFLogxK
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U2 - 10.1007/978-3-031-22216-0_14
DO - 10.1007/978-3-031-22216-0_14
M3 - Conference contribution
AN - SCOPUS:85148742179
SN - 9783031222153
T3 - Lecture Notes in Networks and Systems
SP - 204
EP - 215
BT - Intelligent Autonomous Systems 17 - Proceedings of the 17th International Conference IAS-17
A2 - Petrovic, Ivan
A2 - Markovic, Ivan
A2 - Menegatti, Emanuele
PB - Springer Science and Business Media Deutschland GmbH
T2 - 17th International Conference on Intelligent Autonomous Systems, IAS-17
Y2 - 13 June 2022 through 16 June 2022
ER -