Harvesting Path Planning of Selective Harvesting Robot for White Asparagus

摘要

In order to optimize the harvesting path of harvesting robot for white asparagus, a global path planning algorithm based on multi-fork tree is designed according to the location distribution of the harvesting point and the placed collecting box point, the optimal harvesting path with the shortest harvesting distance is obtained. On this basis, a path planning algorithm based on sequential harvesting of white asparagus is proposed, which effectively increases the speed of path planning when the distance of harvesting path is not much different from the optimal path. The simulation results show that both algorithms can effectively improve the harvesting efficiency of white asparagus. With the global path planning algorithm, the moving distance of end-effector can be saved by 42.83% on average when the number of white asparagus is different. By adopting the path planning algorithm based on sequential harvesting, the average distance of end-effector motion can be saved by 37.2%, and the realtime performance is very good. The path planning of white asparagus harvesting process has a great impact on improving the harvesting efficiency of white asparagus.