Pre-planning of trajectory and orbiting around greenhouses to shorten operation time for fruit-set-reagent spraying robot

This paper presents a motion strategy for a fruitset-reagent spraying operation using a mobile manipulator-type robot. It is very time-consuming to search for and detect flowers and plan the manipulator’s trajectory on time. Therefore, we propose a strategy to effectively execute the manipulator’s trajectory planning in advance based on the flower positions obtained by the robot running in advance, and to execute the spraying and detecting of flowers by orbiting around greenhouse. As a result, the hourly spraying efficiency was improved compared to related methods. This achievement is important in that it enables on-time spreading process in an environment where the operation time is limited.