Autonomous Rule Based Robot Navigation In Orchards

    Research output: Chapter in Book/Report/Conference proceedingArticle in proceedingsResearchpeer-review


    Orchard navigation using sensor-based localization and exible mission management facilitates successful missions independent of the Global Positioning System (GPS). This is especially important while driving between tight tree rows where the GPS coverage is poor. This paper suggests localization based on an a priori map of the tree rows, a laser scanner based tree row detection, detecting both the row line and the row ends. The localization is combined with mission objectives in a rule-based inference interpreter. This rule-based mission handler combines the functional modules: localization, obstacle avoidance, path planning and drive control. The system is tested successfully using a Hako 20 kW tractor during autonomous missions in both cherry and apple orchards with mission length of up to 2.3 km including the headland turns.
    Original languageEnglish
    Title of host publicationIAV 2010
    PublisherInternational Federation of Automatic Control
    Publication date2010
    Publication statusPublished - 2010
    Event7th IFAC Symposium on Intelligent Autonomous Vehicles - Lecce, Italy
    Duration: 6 Sept 20108 Sept 2010
    Conference number: 7


    Conference7th IFAC Symposium on Intelligent Autonomous Vehicles
    Internet address


    • eld robotics
    • Robot navigation, , , , , , , ,
    • obstacle avoidance
    • agricultural machinery
    • rule-based
    • automation
    • sensor fusion
    • tractors (agricultural)
    • obstacle detection


    Dive into the research topics of 'Autonomous Rule Based Robot Navigation In Orchards'. Together they form a unique fingerprint.

    Cite this