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Article Details

Copyright Statement: This is an open access article licensed under a Creative Commons Attribution 4.0 International License, which permits unrestricted use, distribution, and reproduction in any medium, even commercially as long as the original work is properly cited.

Benchmarking of Motion Planning Algorithms with Real-time 3D Occupancy Grid Map for an Agricultural Robotic Manipulator

Author 1: Seyed Abdollah Vaghefi
Author 2: Mohd Faisal Ibrahim
Author 3: Mohd Hairi Mohd Zaman

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Digital Object Identifier (DOI) : 10.14569/IJACSA.2022.01306103

Article Published in International Journal of Advanced Computer Science and Applications(IJACSA), Volume 13 Issue 6, 2022.

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Abstract: The performance evaluation of motion planning algorithms for agricultural robotic manipulators is commonly performed via benchmarking platforms. However, creating a realistic benchmarking scene that constrains the motion planning algorithms with the characteristic of a real-work environment has always been a challenge worthy of research. In this paper, we present a lab-setup benchmarking platform to evaluate Open Motion Planning Library (OMPL) motion planners for the application of a robotic harvester of a palm-like tree using a real-time 3D occupancy grid map. First, three motion problems were defined with different levels of complexity based on a real oil palm fruit harvesting task. To achieve reliable outcomes, the benchmarking scene was modeled by converting point cloud data from a stereo-depth sensor into a 3D occupancy grid map using the Octomap algorithm. Then the benchmarking was performed, all within a real-time process. According to the results, a fair performance evaluation was achieved by modeling a realistic benchmarking scene, which can help in choosing a high-performing algorithm and efficiently conducting such harvesting tasks in real practice.

Keywords: Motion planning; agricultural; harvesting; robot manipulator; benchmarking; oil palm

Seyed Abdollah Vaghefi, Mohd Faisal Ibrahim and Mohd Hairi Mohd Zaman, “Benchmarking of Motion Planning Algorithms with Real-time 3D Occupancy Grid Map for an Agricultural Robotic Manipulator” International Journal of Advanced Computer Science and Applications(IJACSA), 13(6), 2022. http://dx.doi.org/10.14569/IJACSA.2022.01306103

@article{Vaghefi2022,
title = {Benchmarking of Motion Planning Algorithms with Real-time 3D Occupancy Grid Map for an Agricultural Robotic Manipulator},
journal = {International Journal of Advanced Computer Science and Applications},
doi = {10.14569/IJACSA.2022.01306103},
url = {http://dx.doi.org/10.14569/IJACSA.2022.01306103},
year = {2022},
publisher = {The Science and Information Organization},
volume = {13},
number = {6},
author = {Seyed Abdollah Vaghefi and Mohd Faisal Ibrahim and Mohd Hairi Mohd Zaman}
}


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