Trajectory Planning with Obstacles on the Example of Tomato Harvest

The paper presents the PR-APT method (Planning Rectilinear-Arc Polynomial Trajectory) for planning a trajectory of the manipulator end-effector. In the described method, a path consists of two rectilinear segments of intersecting directions combined with the blending arc of a set radius. The arc can make a fragment of an avoidable obstacle. he algorithm and the implemented method on the example of tomato harvest in the greenhouse was presented. The developed algorithm facilitates the trajectory planning in only few steps and therefore, it is supremely effective. Notably, the proposed algorithm ensures the continuity of displacement, velocity and tangential acceleration for the planned motion of the end-effector. The numerical example includes the computational results and the courses of displacement, speed and acceleration for the planned trajectory.