Optimal Trajectory Planning of Eye-head Gaze Shifts for Bionic Robot Vision System on Orchard Environment Perception

Abstract

Abstract To make orchard robots obtain environmental information quickly and smoothly, this paper studies the neuro-mechanism of primates’ gaze shifts. Meanwhile, according to the optimal control theory, this paper considers time and energy as factors of formulating cost function and then analyses kinematic relationship between eye and head during gaze shifts to find constraint conditions. Solving the two-point boundary value differential equations of optimal control, this paper can extract the best control signal of coordinated eye and head movements. By building a multi-degree-of-freedom robot vision system corresponding to the biological model, this paper simulates primates’ gaze shifts and verifies the feasibility and validity of the method proposed.