Open access
Nov 2026
Obstacle Avoidance Path Planning for a Basket-Carrying Robotic Arm Based on an Improved APF-RRT Algorithm
This study addresses the challenges of robotic arm path planning in unstructured material-handling environments typical of agricultural robotics, including complex obstacle distributions, weak goal-directedness of conventional RRT algorithms, low convergence efficiency, and poor path smoothness. An RRT planner embeddin...
Shilei Lyu, Sheng-Jun Shi, Guo-Ning Zhang et al.
· Journal of Biosystems Engine... · 0 citations