We compare eight commonly used path planning algorithms on a robot arm for pruning grape vines. Pruning grape vines involves planning a path that reaches into cluttered regions and through narrow passages. These problems are known to be difficult for sampling based planners. We show that the choice of milestone expansion method has more of an effect on path planner performance than search directionality or laziness. We found the Rapidly Expanding Random Trees algorithm and its variations had the best overall performance.


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    Title :

    A comparison of sampling-based path planners for a grape vine pruning robot arm


    Contributors:
    Paulin, S. (author) / Botterill, T. (author) / Lin, J. (author) / Chen, X. (author) / Green, R. (author)


    Publication date :

    2015-02-01


    Size :

    913762 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



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