Optimal Path Planning Method for a Bush Trimming Robot With a Non-Omnidirectional End-Effector

Nowadays, the operation of trimming artistic bushes is generally performed by skilled human operators without any technological support. This entails that such an operation is characterized by a variability in terms of quality and that it can be performed only with adequate weather conditions. This...

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Vydáno v:IEEE robotics and automation letters Ročník 10; číslo 2; s. 1090 - 1097
Hlavní autoři: Manzardo, Matteo, Carabin, Giovanni, Vidoni, Renato
Médium: Journal Article
Jazyk:angličtina
Vydáno: Piscataway IEEE 01.02.2025
The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Témata:
Agriculture
Algorithms
Blades
Computational modeling
Cutting
End effectors
Forestry
Geometry
Human performance
Kinematics
Motion and path planning
Path planning
robotics and automation in agriculture and forestry
Robots
Shape measurement
Trajectory
Trimming
Weather
ISSN:2377-3766, 2377-3766
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Shrnutí:Nowadays, the operation of trimming artistic bushes is generally performed by skilled human operators without any technological support. This entails that such an operation is characterized by a variability in terms of quality and that it can be performed only with adequate weather conditions. This work addresses the problem of developing a robotized pruning workstation to accurately trim an artistic bush by kinematically modelling the cutting operation, deriving and proving the kinematic constraints which ensure a good quality of the cutting operation, and adapting and improving a state of the art coverage path planning algorithm. Such approach has been validated both numerically and experimentally, showing a consistent improvement with respect to the state of the art algorithms.
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ISSN:2377-3766
2377-3766
DOI:10.1109/LRA.2024.3518232