Abstract
This article describes a benchmark of motion planners available in ROS MoveIt!. The benchmark exercise has been done with planners’ configured to be optimal for a planning scene imitating conditions in a greenhouse during the real process of picking a tomato with a robotic arm. It provides an overview of the available motion planners, analysis of benchmark results and further validation of the most suitable planners with the use of a real 6 DOF robotic arm. Presented experimental results include time of planning, time of generated plan simplification, time of plan execution and time of processing in a cycle composed of start-goal-start poses movement. Obtained results allow to compare efficiency, repeatability and usefulness of particular planners in a use case of robotic tomato harvesting or in similar pick and place tasks.
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Acknowledgements
The project leading to this results has received funding from the European Union’s Horizon 2020 research and innovation programme under grant agreement No 779967.
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Jędrzejczyk, F., Bajer, J., Gawdzik, G., Główka, J., Sprońska, A. (2021). Benchmark and Analysis of Path Planning Algorithms of “ROS MoveIt!” for Pick and Place Task in Tomato Harvesting. In: Szewczyk, R., Zieliński, C., Kaliczyńska, M. (eds) Automation 2021: Recent Achievements in Automation, Robotics and Measurement Techniques. AUTOMATION 2021. Advances in Intelligent Systems and Computing, vol 1390. Springer, Cham. https://doi.org/10.1007/978-3-030-74893-7_26
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DOI: https://doi.org/10.1007/978-3-030-74893-7_26
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