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

Table 2

Statistical results of the virtual tests for grape harvesting path-planning.

Number of objectives	Harvesting optimal sequence	Length of path (L/cm)	Number of sampling points (K)	Collision; (Y/N)	Average time of planning (ms)
3	②→③→①	635.78	108	N	152
2	②→①	448.67	72	N	108
4	③→④→①→②	985.23	172	N	215
5	②→④→③→①→⑤	1362.45	206	N	261
3	①→③→②	723.33	102	N	163
4	②→③→④→①	1061.58	170	N	203
5	⑤→③→①→②→④	1472.65	216	Y	274
2	①→②	463.65	91	N	98
3	②→③→①	756.87	127	N	151
4	③→②→④→①	1045.26	162	N	199