Collision-Free Path-Planning for Six-DOF Serial Harvesting Robot Based on Energy Optimal and Artificial Potential Field
Collision-free autonomous path planning under a dynamic and uncertainty vineyard environment is the most important issue which needs to be resolved firstly in the process of improving robotic harvesting manipulator intelligence. We present and apply energy optimal and artificial potential field to d...
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| Main Authors: | , , , , , , |
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| Format: | Article |
| Language: | English |
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Wiley
2018-01-01
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| Series: | Complexity |
| Online Access: | http://dx.doi.org/10.1155/2018/3563846 |
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| _version_ | 1832557134073561088 |
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| author | Lufeng Luo Hanjin Wen Qinghua Lu Haojie Huang Weilin Chen Xiangjun Zou Chenglin Wang |
| author_facet | Lufeng Luo Hanjin Wen Qinghua Lu Haojie Huang Weilin Chen Xiangjun Zou Chenglin Wang |
| author_sort | Lufeng Luo |
| collection | DOAJ |
| description | Collision-free autonomous path planning under a dynamic and uncertainty vineyard environment is the most important issue which needs to be resolved firstly in the process of improving robotic harvesting manipulator intelligence. We present and apply energy optimal and artificial potential field to develop a path planning method for six degree of freedom (DOF) serial harvesting robot under dynamic uncertain environment. Firstly, the kinematical model of Six-DOF serial manipulator was constructed by using the Denavit-Hartenberg (D-H) method. The model of obstacles was defined by axis-aligned bounding box, and then the configuration space of harvesting robot was described by combining the obstacles and arm space of robot. Secondly, the harvesting sequence in path planning was computed by energy optimal method, and the anticollision path points were automatically generated based on the artificial potential field and sampling searching method. Finally, to verify and test the proposed path planning algorithm, a virtual test system based on virtual reality was developed. After obtaining the space coordinates of grape picking point and anticollision bounding volume, the path points were drew out by the proposed method. 10 times picking tests for grape anticollision path planning were implemented on the developed simulation system, and the success rate was up to 90%. The results showed that the proposed path planning method can be used to the harvesting robot. |
| format | Article |
| id | doaj-art-dfccd534466a45e48f60ff94d3dc430b |
| institution | Kabale University |
| issn | 1076-2787 1099-0526 |
| language | English |
| publishDate | 2018-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Complexity |
| spelling | doaj-art-dfccd534466a45e48f60ff94d3dc430b2025-02-03T05:43:37ZengWileyComplexity1076-27871099-05262018-01-01201810.1155/2018/35638463563846Collision-Free Path-Planning for Six-DOF Serial Harvesting Robot Based on Energy Optimal and Artificial Potential FieldLufeng Luo0Hanjin Wen1Qinghua Lu2Haojie Huang3Weilin Chen4Xiangjun Zou5Chenglin Wang6College of Mechanical and Electrical Engineering, Foshan University, 18 Jiangwan Road, Foshan, 528000, ChinaCollege of Mechanical and Electrical Engineering, Foshan University, 18 Jiangwan Road, Foshan, 528000, ChinaCollege of Mechanical and Electrical Engineering, Foshan University, 18 Jiangwan Road, Foshan, 528000, ChinaCollege of Mechanical and Electrical Engineering, Foshan University, 18 Jiangwan Road, Foshan, 528000, ChinaCollege of Mechanical and Electrical Engineering, Foshan University, 18 Jiangwan Road, Foshan, 528000, ChinaKey Laboratory of Key Technology on Agricultural Machine and Equipment, Ministry of Education, South China Agricultural University, 483 Wushan Road, Guangzhou 510642, ChinaCollege of Mechanical and Electrical Engineering, Chongqing University of Arts and Sciences, 319 Honghe Road, Yongchuan, Chongqing 402160, ChinaCollision-free autonomous path planning under a dynamic and uncertainty vineyard environment is the most important issue which needs to be resolved firstly in the process of improving robotic harvesting manipulator intelligence. We present and apply energy optimal and artificial potential field to develop a path planning method for six degree of freedom (DOF) serial harvesting robot under dynamic uncertain environment. Firstly, the kinematical model of Six-DOF serial manipulator was constructed by using the Denavit-Hartenberg (D-H) method. The model of obstacles was defined by axis-aligned bounding box, and then the configuration space of harvesting robot was described by combining the obstacles and arm space of robot. Secondly, the harvesting sequence in path planning was computed by energy optimal method, and the anticollision path points were automatically generated based on the artificial potential field and sampling searching method. Finally, to verify and test the proposed path planning algorithm, a virtual test system based on virtual reality was developed. After obtaining the space coordinates of grape picking point and anticollision bounding volume, the path points were drew out by the proposed method. 10 times picking tests for grape anticollision path planning were implemented on the developed simulation system, and the success rate was up to 90%. The results showed that the proposed path planning method can be used to the harvesting robot.http://dx.doi.org/10.1155/2018/3563846 |
| spellingShingle | Lufeng Luo Hanjin Wen Qinghua Lu Haojie Huang Weilin Chen Xiangjun Zou Chenglin Wang Collision-Free Path-Planning for Six-DOF Serial Harvesting Robot Based on Energy Optimal and Artificial Potential Field Complexity |
| title | Collision-Free Path-Planning for Six-DOF Serial Harvesting Robot Based on Energy Optimal and Artificial Potential Field |
| title_full | Collision-Free Path-Planning for Six-DOF Serial Harvesting Robot Based on Energy Optimal and Artificial Potential Field |
| title_fullStr | Collision-Free Path-Planning for Six-DOF Serial Harvesting Robot Based on Energy Optimal and Artificial Potential Field |
| title_full_unstemmed | Collision-Free Path-Planning for Six-DOF Serial Harvesting Robot Based on Energy Optimal and Artificial Potential Field |
| title_short | Collision-Free Path-Planning for Six-DOF Serial Harvesting Robot Based on Energy Optimal and Artificial Potential Field |
| title_sort | collision free path planning for six dof serial harvesting robot based on energy optimal and artificial potential field |
| url | http://dx.doi.org/10.1155/2018/3563846 |
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