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The integration of robotics into agriculture has significantly advanced precision farming practices by reducing labor costs associated with repetitive tasks. This paper presents a comprehensive approach to optimize path planning and manipulation for agricultural robots involved in lettuce harvesting. We explore modifications to the A* algorithm for efficient navigation in unstructured agricultural environments, implement trajectory smoothing techniques for enhanced control, and develop inverse kinematics solutions for precise manipulation of the robotic arm. The proposed methods address the challenges of navigating between crop rows, avoiding obstacles, and ensuring accurate positioning of the end-effector for a successful harvest.

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Optimizing Path Planning and Manipulation Strategies for Automated Lettuce Harvesting in Precision Agriculture

  • 会议论文

  • 发表日期：

    2025年

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  • Eduardo Velez,
  • Alejandra Cruz,
  • Felipe Coyotl,
  • Humberto Arroyo,
  • Alain Corona,
  • Michelle Carreon

摘要

The integration of robotics into agriculture has significantly advanced precision farming practices by reducing labor costs associated with repetitive tasks. This paper presents a comprehensive approach to optimize path planning and manipulation for agricultural robots involved in lettuce harvesting. We explore modifications to the A* algorithm for efficient navigation in unstructured agricultural environments, implement trajectory smoothing techniques for enhanced control, and develop inverse kinematics solutions for precise manipulation of the robotic arm. The proposed methods address the challenges of navigating between crop rows, avoiding obstacles, and ensuring accurate positioning of the end-effector for a successful harvest.