Trajectory and Motion for Agricultural Robot

摘要

This paper provides a detailed analysis of the trajectory and motion planning for ground Agricultural-Robot. the approach is based on: i) scanning and analysis of the selected area; ii) obstacle avoidance behavior; and iii) position and image processing system of Agricultural-Robot. The purpose of this paper is to present the goal-directed robot path planning in the presence of uncertainties and obstacles. The proposed concept has been validated on a simulation test bed that is constructed upon a model of typical Agricultural-Robot and race results that clearly demonstrate the effectiveness of the planning system.