Autonomous Rule Based Robot Navigation In Orchards

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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 Sep 20108 Sep 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


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