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Optimal Path Planning Method for a Bush Trimming Robot With a Non-Omnidirectional End-Effector | IEEE Journals & Magazine | IEEE Xplore

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


Abstract:

Nowadays, the operation of trimming artistic bushes is generally performed by skilled human operators without any technological support. This entails that such an operati...Show More

Abstract:

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.
Published in: IEEE Robotics and Automation Letters ( Volume: 10, Issue: 2, February 2025)
Page(s): 1090 - 1097
Date of Publication: 16 December 2024

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