The 7th IFAC Symposium on Intelligent Autonomous Vehicles 2010

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Autonomous Rule Based Robot navigation in Orchards

Jens Christian Andersen
Technical University of Denmark
Denmark

Ole Ravn
Technical University of Denmark
Denmark

Nils A. Andersen
Technical University of Denmark
Denmark

Abstract:
Orchard navigation using sensor-based localization and ?exible mission management facilitates successful missions independent of GPS positioning. 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.

 

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