Table 3 Comparison of path planning methods
From: Automated harvesting by a dual-arm fruit harvesting robot
Target | Â | RRT [28] | T-RRT [29] | RRT* [30] | PRM [27] | PRM* [30] |
|---|---|---|---|---|---|---|
1 | PathPlan[sec] | 0.097 | 0.236 | 10.115 | 10.083 | 10.111 |
Harvest[sec] | 9.793 | 9.744 | 9.785 | 9.907 | 9.739 | |
Sum [sec] | 9.89 | 9.98 | 19.9 | 19.99 | 19.85 | |
2 | PathPlan[sec] | 0.497 | 0.497 | 10.114 | 10.109 | 10.132 |
Harvest[sec] | 9.843 | 11.833 | 11.996 | 11.951 | 11.898 | |
Sum[sec] | 10.34 | 12.33 | 22.11 | 22.06 | 22.03 | |
3 | PathPlan[sec] | 0.432 | 0.268 | 10.078 | 10.179 | 10.104 |
Harvest[sec] | 13.088 | 11.962 | 11.842 | 13.041 | 11.986 | |
Sum[sec] | 13.52 | 12.23 | 21.92 | 23.22 | 22.09 | |
4 | PathPlan[sec] | 0.269 | 0.24 | 10.137 | 10.106 | 10.083 |
Harvest[sec] | 8.511 | 8.86 | 8.313 | 8.344 | 8.047 | |
Sum[sec] | 8.78 | 9.10 | 18.45 | 18.45 | 18.13 |