A fast two-stage approach for multi-goal path planning in a fruit tree

Werner Kroneman*, Joao Valente, A. Frank van der Stappen

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

Abstract

We consider the problem of planning the motion of a drone equipped with a robotic arm, tasked with bringing its end-effector up to many (150+) targets in a fruit tree; to inspect every piece of fruit, for example. The task is complicated by the intersection of a version of Neighborhood TSP (to find an optimal order and a pose to visit every target), and a robotic motion-planning problem through a planning space that features numerous cavities and narrow passages that confuse common techniques. In this contribution, we present a framework that decomposes the problem into two stages: planning approach paths for every target, and quickly planning between the start points of those approach paths. Then, we compare our approach by simulation to a more straightforward method based on multiquery planning, showing that our approach outperforms it in both time and solution cost.
Original languageEnglish
Title of host publicationProceedings of the IEEE International Conference on Robotics and Automation
PublisherIEEE
Pages1586-1593
ISBN (Electronic)979-8-3503-2365-8
DOIs
Publication statusPublished - 4 Jul 2023

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