Push and Drag: An Active Obstacle Separation Method for Fruit Harvesting Robots
Ya Xiong,Yuanyue Ge,Pål Johan From,Ya Xiong,Yuanyue Ge,Pål Johan From
Selectively picking a target fruit surrounded by obstacles is one of the major challenges for fruit harvesting robots. Different from traditional obstacle avoidance methods, this paper presents an active obstacle separation strategy that combines push and drag motions. The separation motion and trajectory are generated based on the 3D visual perception of the obstacle information around the target...
