Abstract A methodology for planning the sequence of tasks for a harvesting robot is presented. The fruit targets are situated at unknown locations and must be detected by the robot through a sequence of sensing tasks. Once the targets are detected, the robot must execute a harvest action at each target location. The traveling salesman paradigm (TSP) is used to plan the sequence of sensing and harvesting tasks taking into account the costs of the sensing and harvesting actions and the traveling times. Sensing is planned online. The methodology is validated and evaluated in both laboratory and greenhouse conditions for a case study of a sweet pepper harvesting robot. The results indicate that planning the sequence of tasks for a sweet pepper harvesting robot results in 12% cost reduction. Incorporating the sensing operation in the planning sequence for fruit harvesting is a new approach in fruit harvesting robots and is important for cycle time reduction. Furthermore, the sequence is re-planned as sensory information becomes available and the costs of these new sensing operations are also considered in the planning.

中文翻译：

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规划收割机器人的任务顺序

摘要 提出了一种用于规划收割机器人任务序列的方法。水果目标位于未知位置，必须由机器人通过一系列传感任务进行检测。一旦检测到目标，机器人必须在每个目标位置执行收获动作。旅行商范式 (TSP) 用于规划传感和收获任务的序列，同时考虑传感和收获动作的成本以及旅行时间。传感计划在线进行。该方法在实验室和温室条件下得到验证和评估，用于甜椒收获机器人的案例研究。结果表明，为甜椒收获机器人规划任务序列可降低 12% 的成本。在水果收获的计划序列中加入传感操作是水果收获机器人的一种新方法，对于缩短周期时间很重要。此外，随着传感信息的可用，重新规划序列，并且在规划中还考虑了这些新传感操作的成本。