Adaptive Step RRT*-Based Method for Path Planning of Tea-Picking Robotic Arm

Adaptive Step RRT*-Based Method for Path Planning of Tea-Picking Robotic Arm

The Adaptive Step RRT* (AS-RRT*) path planning algorithm for tea-picking robotic arms was proposed as a solution to the autonomy, safety, and efficiency problems inherent to tea-picking robots in tea plantations. The algorithm employs an accumulator-based sampling point selection strategy to enhance...

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Bibliographic Details
Main Authors: Xin Li, Jingwen Yang, Xin Wang, Leiyang Fu, Shaowen Li
Format: Article
Language:English
Published: MDPI AG 2024-12-01
Series:Sensors
Subjects:
tea picking
robotic arm
path planning
local obstacle avoidance
AS-RRT* algorithm
Online Access:https://www.mdpi.com/1424-8220/24/23/7759
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