Apple picking robot obstacle avoidance based on the improved artificial potential field method

Abstract

On the basis of retaining the merits of the traditional artificial potential field method which has simple structure and is easy to implement, and combining with the characteristics of obstacles in the apple growing environment, an improved artificial potential field method is present for the obstacle avoidance of apple picking robot. The virtual target point is introduced to help the searching progress escape from local optimal minima for some existing shortcomings, such as local minima, the stuck district. The productivity of apple picking robot is improved effectively. The experimental result proves the feasibility of this method.