Robotic melon harvesting

Yael Edan, Dima Rogozin, Tamar Flash, Gaines E. Miles

Research output: Contribution to journalArticlepeer-review

97 Scopus citations


Intelligent sensing, planning, and control of a prototype robotic melon harvester is described. The robot consists of a Cartesian manipulator mounted on a mobile platform pulled by a tractor. Black and white image processing is used to detect and locate the melons. Incorporation of knowledge-based rules adapted to the specific melon variety reduces false detections. Task, motion and trajectory planning algorithms and their integration are described. The intelligent control system consists of a distributed blackboard system with autonomous modules for sensing, planning and control. Procedures for evaluating performance of the robot performing in an unstructured and changing environment are described. The robot was tested in the field on two different melon cultivars during two different seasons. Over 85% of the fruit were successfully detected and picked.

Original languageEnglish
Pages (from-to)831-835
Number of pages5
JournalIEEE Transactions on Robotics and Automation
Issue number6
StatePublished - 1 Dec 2000


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