Design of Lychee Picking Robot Based on SAT Path Planning Algorithm and Fuzzy Obstacle Avoidance Strategy

摘要

A robot with autonomous path planning ability, automatic recognition of fruit maturity, and automatic picking capability has been designed to address the low efficiency of manual lychee picking in Hainan. This article mainly uses the SAT path planning algorithm to transform the path planning problem into a satisfiable problem and uses the MiniSat solver to solve the robot motion sequence. Design an obstacle avoidance system for a picking robot using fuzzy control principles and ultrasonic ranging sensors. At the same time, the Object Detection algorithm is introduced into the maturity recognition of lychee fruits. Experimental tests have shown that the picking robot can complete fruit recognition, path planning, obstacle avoidance, and picking testing on the constructed grid map.