Smoothing obstacle avoidance path planning based on C-space for harvesting robot

The path planning for harvesting mechanical arm to avoid obstacle is studied for the working needs based on the known fruits and obstacles information. Firstly, the obstacles were equivalent to point-shaped, round-shaped and line-shaped obstacles according to their growth characteristics in the picking environment, and then they were built model by the boundary feature and done the rasterization in C-space. At last, the smoothing direction-first path planning algorithm based on tree structure was presented, which accomplished the local obstacle avoidance path planning of apple harvesting robot in C-space.