{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,17]],"date-time":"2026-03-17T03:06:54Z","timestamp":1773716814854,"version":"3.50.1"},"reference-count":25,"publisher":"Wiley","issue":"1","license":[{"start":{"date-parts":[[2018,11,1]],"date-time":"2018-11-01T00:00:00Z","timestamp":1541030400000},"content-version":"vor","delay-in-days":304,"URL":"http:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["51705365"],"award-info":[{"award-number":["51705365"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":["onlinelibrary.wiley.com"],"crossmark-restriction":true},"short-container-title":["Complexity"],"published-print":{"date-parts":[[2018,1]]},"abstract":"<jats:p>Collision\u2010free autonomous path planning under a dynamic and uncertainty vineyard environment is the most important issue which needs to be resolved firstly in the process of improving robotic harvesting manipulator intelligence. We present and apply energy optimal and artificial potential field to develop a path planning method for six degree of freedom (DOF) serial harvesting robot under dynamic uncertain environment. Firstly, the kinematical model of Six\u2010DOF serial manipulator was constructed by using the Denavit\u2010Hartenberg (D\u2010H) method. The model of obstacles was defined by axis\u2010aligned bounding box, and then the configuration space of harvesting robot was described by combining the obstacles and arm space of robot. Secondly, the harvesting sequence in path planning was computed by energy optimal method, and the anticollision path points were automatically generated based on the artificial potential field and sampling searching method. Finally, to verify and test the proposed path planning algorithm, a virtual test system based on virtual reality was developed. After obtaining the space coordinates of grape picking point and anticollision bounding volume, the path points were drew out by the proposed method. 10 times picking tests for grape anticollision path planning were implemented on the developed simulation system, and the success rate was up to 90%. The results showed that the proposed path planning method can be used to the harvesting robot.<\/jats:p>","DOI":"10.1155\/2018\/3563846","type":"journal-article","created":{"date-parts":[[2018,11,1]],"date-time":"2018-11-01T23:50:43Z","timestamp":1541116243000},"update-policy":"https:\/\/doi.org\/10.1002\/crossmark_policy","source":"Crossref","is-referenced-by-count":37,"title":["Collision\u2010Free Path\u2010Planning for Six\u2010DOF Serial Harvesting Robot Based on Energy Optimal and Artificial Potential Field"],"prefix":"10.1155","volume":"2018","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-4106-1558","authenticated-orcid":false,"given":"Lufeng","family":"Luo","sequence":"first","affiliation":[]},{"given":"Hanjin","family":"Wen","sequence":"additional","affiliation":[]},{"ORCID":"https:\/\/orcid.org\/0000-0002-3781-4361","authenticated-orcid":false,"given":"Qinghua","family":"Lu","sequence":"additional","affiliation":[]},{"given":"Haojie","family":"Huang","sequence":"additional","affiliation":[]},{"given":"Weilin","family":"Chen","sequence":"additional","affiliation":[]},{"given":"Xiangjun","family":"Zou","sequence":"additional","affiliation":[]},{"given":"Chenglin","family":"Wang","sequence":"additional","affiliation":[]}],"member":"311","published-online":{"date-parts":[[2018,11]]},"reference":[{"key":"e_1_2_10_1_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.robot.2014.07.002"},{"key":"e_1_2_10_2_2","doi-asserted-by":"publisher","DOI":"10.1155\/2018\/6879419"},{"key":"e_1_2_10_3_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.compind.2018.03.017"},{"key":"e_1_2_10_4_2","doi-asserted-by":"crossref","unstructured":"LiP. LeeS.-H. andHsuH.-Y. Review on fruit harvesting method for potential use of automatic fruit harvesting systems Proceedings of the 2011 International Conference on Power Electronics and Engineering Application PEEA 2011 December 2011 China 351\u2013366 2-s2.0-84862922863.","DOI":"10.1016\/j.proeng.2011.11.2514"},{"key":"e_1_2_10_5_2","doi-asserted-by":"publisher","DOI":"10.3724\/SP.J.1016.2011.00836"},{"key":"e_1_2_10_6_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.robot.2017.10.011"},{"key":"e_1_2_10_7_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.ymssp.2017.07.019"},{"key":"e_1_2_10_8_2","doi-asserted-by":"publisher","DOI":"10.1109\/TASE.2015.2487881"},{"key":"e_1_2_10_9_2","doi-asserted-by":"publisher","DOI":"10.1109\/tsmc.2015.2500027"},{"key":"e_1_2_10_10_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.compag.2014.04.011"},{"key":"e_1_2_10_11_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.biosystemseng.2016.08.026"},{"key":"e_1_2_10_12_2","doi-asserted-by":"publisher","DOI":"10.1016\/S1537-5110(03)00133-8"},{"key":"e_1_2_10_13_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.ymssp.2017.08.011"},{"key":"e_1_2_10_14_2","doi-asserted-by":"publisher","DOI":"10.3390\/s18020571"},{"key":"e_1_2_10_15_2","doi-asserted-by":"publisher","DOI":"10.1166\/jctn.2016.4894"},{"key":"e_1_2_10_16_2","doi-asserted-by":"crossref","unstructured":"PhamH.andPhamQ. Time-Optimal Path Tracking via Reachability Analysis Proceedings of the 2018 IEEE International Conference on Robotics and Automation (ICRA) May 2018 Brisbane QLD 3007\u20133012 https:\/\/doi.org\/10.1109\/ICRA.2018.8460576.","DOI":"10.1109\/ICRA.2018.8460576"},{"key":"e_1_2_10_17_2","doi-asserted-by":"publisher","DOI":"10.1016\/0094-114X(95)00101-4"},{"key":"e_1_2_10_18_2","volume-title":"Introduction to Robotics: Mechanics and Control","author":"Craig J.","year":"2015"},{"key":"e_1_2_10_19_2","doi-asserted-by":"publisher","DOI":"10.1109\/TSMC.1981.4308713"},{"key":"e_1_2_10_20_2","doi-asserted-by":"crossref","unstructured":"ZachmannG. Rapid collision detection by dynamically aligned DOP-trees Proceedings of the 1998 IEEE Virtual Reality Annual International Symposium VRAIS March 1998 90\u201397 2-s2.0-0031653635.","DOI":"10.1109\/VRAIS.1998.658428"},{"key":"e_1_2_10_21_2","first-page":"55","article-title":"Obstacle avoidance path planning of hybrid harvesting manipulator based on joint configuration space","volume":"33","author":"Yang H.","year":"2017","journal-title":"Nongye Gongcheng Xuebao"},{"key":"e_1_2_10_22_2","volume-title":"Robotics, Vision & Control","author":"Peter C.","year":"2017"},{"key":"e_1_2_10_23_2","first-page":"961","article-title":"Survey on technology of mobile robot path planning","volume":"25","author":"Daqi Z.","year":"2010","journal-title":"Control and Decision"},{"key":"e_1_2_10_24_2","doi-asserted-by":"publisher","DOI":"10.1177\/027836498600500106"},{"key":"e_1_2_10_25_2","doi-asserted-by":"publisher","DOI":"10.1504\/IJAMECHS.2015.072707"}],"container-title":["Complexity"],"original-title":[],"language":"en","link":[{"URL":"http:\/\/downloads.hindawi.com\/journals\/complexity\/2018\/3563846.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/downloads.hindawi.com\/journals\/complexity\/2018\/3563846.xml","content-type":"application\/xml","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/onlinelibrary.wiley.com\/doi\/pdf\/10.1155\/2018\/3563846","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2024,8,8]],"date-time":"2024-08-08T22:11:50Z","timestamp":1723155110000},"score":1,"resource":{"primary":{"URL":"https:\/\/onlinelibrary.wiley.com\/doi\/10.1155\/2018\/3563846"}},"subtitle":[],"editor":[{"given":"Zhaojie","family":"Ju","sequence":"additional","affiliation":[]}],"short-title":[],"issued":{"date-parts":[[2018,1]]},"references-count":25,"journal-issue":{"issue":"1","published-print":{"date-parts":[[2018,1]]}},"alternative-id":["10.1155\/2018\/3563846"],"URL":"https:\/\/doi.org\/10.1155\/2018\/3563846","archive":["Portico"],"relation":{},"ISSN":["1076-2787","1099-0526"],"issn-type":[{"value":"1076-2787","type":"print"},{"value":"1099-0526","type":"electronic"}],"subject":[],"published":{"date-parts":[[2018,1]]},"assertion":[{"value":"2018-08-07","order":0,"name":"received","label":"Received","group":{"name":"publication_history","label":"Publication History"}},{"value":"2018-10-18","order":2,"name":"accepted","label":"Accepted","group":{"name":"publication_history","label":"Publication History"}},{"value":"2018-11-01","order":3,"name":"published","label":"Published","group":{"name":"publication_history","label":"Publication History"}}],"article-number":"3563846"}}