Optimal Path Planning Method for a Bush Trimming Robot With a Non-Omnidirectional End-Effector
Matteo Manzardo, Giovanni Carabin, Renato Vidoni
Abstract
Nowadays, the operation of trimming artistic bushes is generally performed by skilled human operators without any technological support. This entails that such an operation is characterized by a variability in terms of quality and that it can be performed only with adequate weather conditions. This work addresses the problem of developing a robotized pruning workstation to accurately trim an artistic bush by kinematically modelling the cutting operation, deriving and proving the kinematic constraints which ensure a good quality of the cutting operation, and adapting and improving a state of the art coverage path planning algorithm. Such approach has been validated both numerically and experimentally, showing a consistent improvement with respect to the state of the art algorithms.
BibTeX
@inproceedings{ral2025_optimalpathplann,
title = {Optimal Path Planning Method for a Bush Trimming Robot With a Non-Omnidirectional End-Effector},
author = {Matteo Manzardo and Giovanni Carabin and Renato Vidoni},
booktitle = {RA-L 2025},
year = {2025}
}