Position Selection and Collision-Free Path Planning for Fruit Picking Robots
As the population continues to grow, the need for increased food production has become increasingly evident. However, the agricultural workforce is decreasing due to industrialization. To address this gap, numerous research efforts are underway to adopt robots for harvesting. While significant progr...
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| Format: | Article |
| Language: | English |
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MDPI AG
2025-04-01
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| Series: | Applied Sciences |
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| Online Access: | https://www.mdpi.com/2076-3417/15/8/4419 |
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| author | Yonghee Cho Dongwoon Choi Kwangeun Ko Jong Hyeon Park |
| author_facet | Yonghee Cho Dongwoon Choi Kwangeun Ko Jong Hyeon Park |
| author_sort | Yonghee Cho |
| collection | DOAJ |
| description | As the population continues to grow, the need for increased food production has become increasingly evident. However, the agricultural workforce is decreasing due to industrialization. To address this gap, numerous research efforts are underway to adopt robots for harvesting. While significant progress has been made, especially in fruit harvesting using robotic systems, there are still inefficiencies and areas where human intervention is necessary. This paper proposes an algorithm for selecting the position of a mobile manipulator for fruit harvesting using an inverse reachability map to achieve automation and enhance efficiency. Additionally, a method for collision-free path planning in joint space using the model predictive artificial potential field (MPAPF) algorithm is proposed. The effectiveness of the proposed position selection and path planning algorithms was validated through harvesting simulations and a collision-free path was validated in experiments. |
| format | Article |
| id | doaj-art-6cd24ca09ff14fa986093d451c248a24 |
| institution | DOAJ |
| issn | 2076-3417 |
| language | English |
| publishDate | 2025-04-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Applied Sciences |
| spelling | doaj-art-6cd24ca09ff14fa986093d451c248a242025-08-20T03:14:16ZengMDPI AGApplied Sciences2076-34172025-04-01158441910.3390/app15084419Position Selection and Collision-Free Path Planning for Fruit Picking RobotsYonghee Cho0Dongwoon Choi1Kwangeun Ko2Jong Hyeon Park3School of Mechanical Engineering, Hanyang University, Seoul 04763, Republic of KoreaSchool of Mechanical Engineering, Hanyang University, Seoul 04763, Republic of KoreaKorea Institute of Industrial Technology (KITECH), Ansan 15588, Republic of KoreaSchool of Mechanical Engineering, Hanyang University, Seoul 04763, Republic of KoreaAs the population continues to grow, the need for increased food production has become increasingly evident. However, the agricultural workforce is decreasing due to industrialization. To address this gap, numerous research efforts are underway to adopt robots for harvesting. While significant progress has been made, especially in fruit harvesting using robotic systems, there are still inefficiencies and areas where human intervention is necessary. This paper proposes an algorithm for selecting the position of a mobile manipulator for fruit harvesting using an inverse reachability map to achieve automation and enhance efficiency. Additionally, a method for collision-free path planning in joint space using the model predictive artificial potential field (MPAPF) algorithm is proposed. The effectiveness of the proposed position selection and path planning algorithms was validated through harvesting simulations and a collision-free path was validated in experiments.https://www.mdpi.com/2076-3417/15/8/4419harvesting robotmobile manipulatorinverse reachability mapcollision-free path planningartificial potential field |
| spellingShingle | Yonghee Cho Dongwoon Choi Kwangeun Ko Jong Hyeon Park Position Selection and Collision-Free Path Planning for Fruit Picking Robots Applied Sciences harvesting robot mobile manipulator inverse reachability map collision-free path planning artificial potential field |
| title | Position Selection and Collision-Free Path Planning for Fruit Picking Robots |
| title_full | Position Selection and Collision-Free Path Planning for Fruit Picking Robots |
| title_fullStr | Position Selection and Collision-Free Path Planning for Fruit Picking Robots |
| title_full_unstemmed | Position Selection and Collision-Free Path Planning for Fruit Picking Robots |
| title_short | Position Selection and Collision-Free Path Planning for Fruit Picking Robots |
| title_sort | position selection and collision free path planning for fruit picking robots |
| topic | harvesting robot mobile manipulator inverse reachability map collision-free path planning artificial potential field |
| url | https://www.mdpi.com/2076-3417/15/8/4419 |
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