Obstacle modeling and information description method based on C-space for harvesting robot

For meeting the real-time working requirement of harvesting robot, the obstacles in the picking environment were equivalent to point-shaped, round-shaped and line-shaped obstacles according to their growth characteristics in the nature environment, which can avoid a great deal of computation and decrease the process time. And then the corresponding obstacles modeling method in C-space was presented according to the inherent geometric characteristic of the mechanical arms and the collision conditions between the mechanical arms and obstacles. Lastly, the obstacle information description method in C-space was determined by discussion and comparison for facilitate the obstacle avoidance path planning.