Autonomous Rule Based Robot Navigation In Orchards

Research output: Chapter in Book/Report/Conference proceedingArticle in proceedings – Annual report year: 2010Researchpeer-review

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Autonomous Rule Based Robot Navigation In Orchards. / Andersen, Jens Christian; Ravn, Ole; Andersen, Nils Axel.

IAV 2010. International Federation of Automatic Control, 2010.

Research output: Chapter in Book/Report/Conference proceedingArticle in proceedings – Annual report year: 2010Researchpeer-review

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Andersen, JC, Ravn, O & Andersen, NA 2010, Autonomous Rule Based Robot Navigation In Orchards. in IAV 2010. International Federation of Automatic Control, 7th IFAC Symposium on Intelligent Autonomous Vehicles, Lecce, Italy, 06/09/2010. https://doi.org/10.3182/20100906-3-IT-2019.00010

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Bibtex

@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",

}

RIS

TY - GEN

T1 - Autonomous Rule Based Robot Navigation In Orchards

AU - Andersen, Jens Christian

AU - Ravn, Ole

AU - Andersen, Nils Axel

PY - 2010

Y1 - 2010

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

ER -