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December 8, 2025AgriEngineeringOpen Access

Design of Fruit Harvesting Robot System Based on a Reachability and Inverse Reachability Map

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Authors

YKYong-Tae Kim

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Implication

This approach demonstrates enhanced harvesting efficiency in mobile manipulators with camera calibration and autonomous navigation.

Key Points

  • This research aims to improve the efficiency of fruit harvesting via a mobile manipulator system.
  • Developed a fruit-harvesting robot using reachability and inverse reachability maps.
  • Utilized YOLOv5 for fruit location detection and implemented camera calibration.
  • Employed coordinate transformation and hand-eye calibration for accurate 3D positioning of the manipulator.
  • Implemented the system on Robot Operating System 2 for modular operation.
  • The system effectively prioritized fruits accessible to the manipulator for harvesting.
  • Optimized base poses allowed the mobile manipulator to reach previously inaccessible fruits.
  • Validated in a simulated orchard, showing significant improvements in autonomous fruit-harvesting performance.

Cite This Study

Yong-Tae Kim (2025) studied this question.

synapsesocial.com/papers/693624ce4fa91c937236cdc6https://doi.org/10.3390/agriengineering7120417
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