Title :
A comparison of sampling-based path planners for a grape vine pruning robot arm
Author :
Paulin, S. ; Botterill, T. ; Lin, J. ; Chen, X. ; Green, R.
Author_Institution :
Mech. Eng., Univ. of Canterbury, Christchurch, New Zealand
Abstract :
We compare eight commonly used path planning algorithms on a robot arm for pruning grape vines. Pruning grape vines involves planning a path that reaches into cluttered regions and through narrow passages. These problems are known to be difficult for sampling based planners. We show that the choice of milestone expansion method has more of an effect on path planner performance than search directionality or laziness. We found the Rapidly Expanding Random Trees algorithm and its variations had the best overall performance.
Keywords :
manipulators; path planning; sampling methods; grape vine pruning robot arm; path planning algorithms; rapidly expanding random trees algorithm; sampling-based path planners; Automation; Collision avoidance; Path planning; Periodic structures; Pipelines; Planning; Robots;
Conference_Titel :
Automation, Robotics and Applications (ICARA), 2015 6th International Conference on
Conference_Location :
Queenstown
DOI :
10.1109/ICARA.2015.7081131