Collision-Free Path-Planning for Six-DOF Serial Harvesting Robot Based on Energy Optimal and Artificial Potential Field

Algorithm 1

Sampling-based path point generating method.

Input: the current point coordinates of the end-effector , the terminal coordinates

(the cutting point on the peduncles of grape cluster), the bounding box model of

obstacles

Output: the path points .

  1. Find all collision-free sampling points.

  2. for each sampling points p do

    (a) calculate the probability that the current point is the candidate path points.

    (b) find the point whose probability is maximum

    (c) consider the points as a candidate path point.

   end

  3. Repeat the above process until the terminal coordinates is reached.