Path planning of the fruit tree pruning manipulator based on improved RRT-Connect algorithm

Aiming to realize the obstacle avoidance of fruit tree pruning manipulator in unstructured complex natural environment, an improved bidirectional fast extended random (RRT-Connect) algorithm was presented this study. The and obstacles were properly simplified based on their geometrical characteristics build collision detection models taking account obstacles, ground, itself carry out path planning. Goal-biased strategy adaptive step size adjustment principle introduced accelerate search speed. Bidirectional optimal cubic non-uniform B-spline interpolation method adopted optimize generated by RRT-Connect. simulation planning experiment carried system practical real platform. results showed that time length RRT-Connect reduced about 55% 60% respectively compared with basic algorithm. success rate 100%, planned smooth, continual executable, which could effectively guide avoid lead end effector goal point. proposed not only has certain application value for but also theoretical reference other types robots. Keywords: manipulator, planning, RRT-Connect, jujube pruning, avoidance, DOI: 10.25165/j.ijabe.20221502.6249 Citation: Chen Y Y, Fu X, Zhang B, W, Shen C J. Path Int J Agric & Biol Eng, 2022; 15(2): 177–188.