基于MatLab的多目标猕猴桃无损采摘路径规划

Non-destructive Harvesting Path Planning of Multi Kiwi Fruit Based on Matlab

针对棚架式猕猴桃种植模式,为了解决多目标猕猴桃采摘中可能损伤的问题,设计了一种猕猴桃采摘顺序的方法。该算法首先在XOY平面上求解所有目标猕猴桃的中心点,以该中心点为圆心,然后求解各目标猕猴桃XOY平面上距离该中心点的距离,并以此为半径寻找同心圆。采摘的顺序采用由外圆不断向内采摘,避免机械臂采摘目标点的过程中不会因碰撞其他目标而造成损伤。同时,采用空间直线进行路径规划采摘,以提高采摘的效率。

In order to solve the problem of possible damage in multi-target kiwifruit picking, aiming at the scaffolding cultivation mode of kiwifruits, an algorithm of picking kiwifruit was proposed in this paper. First, the center of kiwifruit in all the target kiwifruits was solved in XOY plane, set it as the center of the circle, and then the distance from the target kiwifruit XOY plane to the center was calculated. After that, the concentric circles which radii are the distance was found. The picking sequence is picking inwards by the outer circle continuously, so the damage won’t be caused to any other kiwifruits during the process of picking the target point by the robotic arm. For improving the efficiency of the picking , a straight line path planning for space picking was applied in the paper.