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 | |
| 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 |
Keywords
- eld robotics
- Robot navigation, , , , , , , ,
- obstacle avoidance
- agricultural machinery
- rule-based
- automation
- sensor fusion
- tractors (agricultural)
- obstacle detection
Cite this
Andersen, J. C., Ravn, O., & Andersen, N. A. (2010). Autonomous Rule Based Robot Navigation In Orchards. In IAV 2010 International Federation of Automatic Control. https://doi.org/10.3182/20100906-3-IT-2019.00010