Autonomous Rule Based Robot Navigation In Orchards

Jens Christian Andersen; Ole Ravn; Nils Axel Andersen

doi:10.3182/20100906-3-IT-2019.00010

Autonomous Rule Based Robot Navigation In Orchards

Jens Christian Andersen, Ole Ravn, Nils Axel Andersen

Research output: Chapter in Book/Report/Conference proceeding › Article in proceedings › Research › peer-review

Abstract

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 language	English
Title of host publication	IAV 2010
Publisher	International Federation of Automatic Control
Publication date	2010
DOIs	https://doi.org/10.3182/20100906-3-IT-2019.00010
Publication status	Published - 2010
Event	7th IFAC Symposium on Intelligent Autonomous Vehicles - Lecce, Italy Duration: 6 Sep 2010 → 8 Sep 2010 Conference number: 7 http://iav2010.unile.it/

Conference

Conference	7th IFAC Symposium on Intelligent Autonomous Vehicles
Number	7
Country	Italy
City	Lecce
Period	06/09/2010 → 08/09/2010
Internet address	http://iav2010.unile.it/

Keywords

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

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Cite this

@inproceedings{22341862a85f4bbe843184d36fa05228,

title = "Autonomous Rule Based Robot Navigation In Orchards",

abstract = "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.",

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

author = "Andersen, {Jens Christian} and Ole Ravn and Andersen, {Nils Axel}",

year = "2010",

doi = "10.3182/20100906-3-IT-2019.00010",

language = "English",

booktitle = "IAV 2010",

publisher = "International Federation of Automatic Control",

note = "7th IFAC Symposium on Intelligent Autonomous Vehicles ; Conference date: 06-09-2010 Through 08-09-2010",

url = "http://iav2010.unile.it/",

}

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AU - Andersen, Jens Christian

AU - Ravn, Ole

AU - Andersen, Nils Axel

N1 - Conference code: 7

PY - 2010

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N2 - 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.

AB - 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.

KW - eld robotics

KW - Robot navigation, , , , , , , ,

KW - obstacle avoidance

KW - agricultural machinery

KW - rule-based

KW - automation

KW - sensor fusion

KW - tractors (agricultural)

KW - obstacle detection

U2 - 10.3182/20100906-3-IT-2019.00010

DO - 10.3182/20100906-3-IT-2019.00010

M3 - Article in proceedings

BT - IAV 2010

PB - International Federation of Automatic Control

T2 - 7th IFAC Symposium on Intelligent Autonomous Vehicles

Y2 - 6 September 2010 through 8 September 2010

ER -