让机器人安全移动枝条，提升果园作业精度。
Force Aware Branch Manipulation To Assist Agricultural Tasks
- 改进RRT*算法，考虑枝条形变与几何约束
- 78%成功率，50次实验中成功移动枝条
- 适合需要精细操作的农业场景，如采果、授粉
本研究提出一种安全操控枝条的方法，以支持多种精准农业任务。人类在真实农业环境中常通过操控枝条完成作业，但现有农业机器人缺乏此能力。所提策略可应用于密集叶丛中果实采摘、遮挡下花朵授粉，以及为导航移开垂挂枝蔓。方法基于RRT*改进，规划满足枝条几何约束且符合其可变形特性的路径；通过重规划使机器人施力在期望范围内，避免损伤枝条。实验在50次测试中取得78%成功率，成功将枝条从不同起点移动至目标区域。
原文摘要 · Abstract (English)
This study presents a methodology to safely manipulate branches to aid various agricultural tasks. Humans in a real agricultural environment often manipulate branches to perform agricultural tasks effectively, but current agricultural robots lack this capability. This proposed strategy to manipulate branches can aid in different precision agriculture tasks, such as fruit picking in dense foliage, pollinating flowers under occlusion, and moving overhanging vines and branches for navigation. The proposed method modifies RRT* to plan a path that satisfies the branch geometric constraints and obeys branch deformable characteristics. Re-planning is done to obtain a path that helps the robot exert force within a desired range so that branches are not damaged during manipulation. Experimentally, this method achieved a success rate of 78% across 50 trials, successfully moving a branch from different starting points to a target region.
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