Visual Robot Obstacle Avoidance Planning and Simulation Using Mapped Point Clouds

Authors

Hanlin Huo, College of Engineering, South China Agricultural University, Guangzhou 510000, China
Xiangjun Zou, College of Engineering, South China Agricultural University, Guangzhou 510000, China; Foshan-Zhongke Innovation Research Institute of Intelligent Agriculture and Robotics, Foshan 528000, China
Yan Chen, College of Engineering, South China Agricultural University, Guangzhou 510000, China
Xinzhao Zhou, Foshan-Zhongke Innovation Research Institute of Intelligent Agriculture and Robotics, Foshan 528000, China
Mingyou Chen, College of Engineering, South China Agricultural University, Guangzhou 510000, China
Chengen Li, College of Engineering, South China Agricultural University, Guangzhou 510000, China
Yaoqiang Pan, College of Engineering, South China Agricultural University, Guangzhou 510000, China
Yunchao Tang, College of Urban and rural Construction, Zhongkai College of Agricultural Engineering, Guangzhou 510080, China

Abstract

Abstract: In response to the large and complex data volume and high redundancy of visual point cloud obstacle recognition in complex unstructured orchard environments, which severely impacts the real-time performance and efficiency of harvesting operations, a point cloud compression algorithm is proposed based on point cloud segmentation to enhance the efficiency of point cloud obstacle recognition and environmental adaptability. An Informed RRT* based approach is used combined with an inverse projection algorithm, mapping-based informed RRT*(M-Informed RRT*) to solve the harvesting path problem. By constructing a highly real-time and robust integrated robot system for sampling, perception, and obstacle avoidance, efficient obstacle recognition and path planning are achieved. Experimental data from ROS based picking robots demonstrates the feasibility of this algorithm and significantly improves the efficiency of harvesting operations.

Recommended Citation

Huo, Hanlin; Zou, Xiangjun; Chen, Yan; Zhou, Xinzhao; Chen, Mingyou; Li, Chengen; Pan, Yaoqiang; and Tang, Yunchao (2024) "Visual Robot Obstacle Avoidance Planning and Simulation Using Mapped Point Clouds," Journal of System Simulation: Vol. 36: Iss. 9, Article 15.
DOI: 10.16182/j.issn1004731x.joss.23-0618
Available at: https://dc-china-simulation.researchcommons.org/journal/vol36/iss9/15

First Page

2149

Last Page

2158

CLC

TP249; TP242.3; TP391

Recommended Citation

Huo Hanlin, Zou Xiangjun, Chen Yan, et al. Visual Robot Obstacle Avoidance Planning and Simulation Using Mapped Point Clouds[J]. Journal of System Simulation, 2024, 36(9): 2149-2158.

Corresponding Author

Tang Yunchao

DOI

10.16182/j.issn1004731x.joss.23-0618