Path Planning for Robotic Harvesting

Wesley Au, Chao Chen

Research output: Chapter in Book/Report/Conference proceedingEncyclopaedia / Dictionary EntryOtherpeer-review

Abstract

Selective Harvesting – A harvesting methodology used in high-value crops where each fruit or vegetable is harvested individually from it’s growth habitat. This allows for gentle harvesting of a crop where ripeness is not uniform, while maintaining integrity of the plant to maximize future yield. This is in contrast to mass-harvesting, where the entire crop field is harvested at once with heavy machinery, with the harvested area re-cultivated for the next crop.

Canopy – The habitat in which a crop grows. This can vary significantly even for the same species of fruit or vegetable, as they can be trained by the farmer to optimize a certain growth habit to achieve certain yields or properties for a specific market. This provides a significant source of challenges for robotic or automated harvesting.

Fruit Extraction – The action of removing a fruit from its growth habitat. Selective harvesting robots most commonly use one, or a combination of grasping, suction, or cutting methods, depending on the underlying technologies that actuate the harvesting tool.

Fundamentals of Robotics – In the context of this chapter, this subject relates to the modeling and analysis of general robotic systems, down to its most fundamental mathematical definitions. Traditionally, this is the study of motion of a robotic system known as kinematics, and is derived from the basic principles of linear algebra.
Original languageEnglish
Title of host publicationEncyclopedia of Digital Agricultural Technologies
EditorsQin Zhang
Place of PublicationCham Switzerland
PublisherSpringer
Pages933-1087
Number of pages155
Edition1st
ISBN (Electronic)9783031248610
ISBN (Print)9783031248603
DOIs
Publication statusPublished - 2023

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