Workspace decomposition based path planning for fruit-picking robot in complex greenhouse environment

Binhao Chen, Liang Gong, Chenrui Yu, Xiaofeng Du, Jianhuan Chen, Shenghan Xie, Xinyi Le, Yanming Li, Chengliang Liu

Abstract: Highlights•A planning method for fruit-picking robots is proposed to find high-quality paths.•The information on targets and obstacles is fully used in the proposed method.•The paths found are the shortest in the configuration space and feasible in the workspace.•All feasible paths are considered by the proposed method and are probabilistically complete.•The picking speed of the proposed method reaches 10.5 piece/s and the picking rate reaches 80.0 %.