Research on Trajectory Planning of Orchard Robot

In contrast to typical scenarios, orchards present a more intricate environment characterized by numerous irregular obstructions. This complexity often leads to the generation of zigzag paths when employing conventional path planning algorithms. Moreover, the challenge is compounded by the orchard's slippery terrain and the fact that traditional path planning approaches do not consider robot kinematics, necessitating abrupt changes in acceleration. Such conditions make it arduous for orchard robots to follow these paths effectively. To mitigate these issues, this study introduces the minimum Jerk principle, which focuses on minimizing the rate of change in robot acceleration, as the cost function for optimizing the paths devised by standard path planning methods. The paper culminates in an empirical evaluation using a robot in an orchard setting. Experimental results demonstrate a substantial reduction in the robot's angular velocity fluctuations and a 12% decrease in tracking time, compared to paths generated by conventional methods.