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 exampl…