Benchmarking of Motion Planning Algorithms with Real-time 3D Occupancy Grid Map for an Agricultural Robotic Manipulator
Seyed Abdollah Vaghefi,
Mohd Faisal Ibrahim,
Mohd Hairi Mohd Zaman
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 pal… Show more
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