LiDAR-Only Crop Navigation for Symmetrical Robot
This paper presents a navigation approach for autonomous agricultural robots based on LiDAR data. This navigation approach is divided into two parts: a line finding algorithm and a control algorithm. The paper proposes several line finding algorithms (based on PEARL/Ruby approach) that extract lines...
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| Format: | Article |
| Language: | English |
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MDPI AG
2022-11-01
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| Series: | Sensors |
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| Online Access: | https://www.mdpi.com/1424-8220/22/22/8918 |
| _version_ | 1797463956448608256 |
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| author | Rémy Guyonneau Franck Mercier Gabriel Oliveira Freitas |
| author_facet | Rémy Guyonneau Franck Mercier Gabriel Oliveira Freitas |
| author_sort | Rémy Guyonneau |
| collection | DOAJ |
| description | This paper presents a navigation approach for autonomous agricultural robots based on LiDAR data. This navigation approach is divided into two parts: a line finding algorithm and a control algorithm. The paper proposes several line finding algorithms (based on PEARL/Ruby approach) that extract lines from a LiDAR data set. Once the lines have been processed from the data set, a control algorithm filters these lines and, using a fuzzy controller, generates the wheel speed commands to move the robot among the crop rows. This navigation approach was tested using a simulator built on ROS middle-ware and Gazebo (the source codes of the simulation are available on GitHub). The results of the simulated experiments show that the proposed approach performs well for a large range of crop configurations (with or without considering weeds, with or without holes in the crop rows…). |
| first_indexed | 2024-03-09T18:00:03Z |
| format | Article |
| id | doaj.art-6a1b6d8795044d8c875c18b50ac748af |
| institution | Directory Open Access Journal |
| issn | 1424-8220 |
| language | English |
| last_indexed | 2024-03-09T18:00:03Z |
| publishDate | 2022-11-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Sensors |
| spelling | doaj.art-6a1b6d8795044d8c875c18b50ac748af2023-11-24T09:57:53ZengMDPI AGSensors1424-82202022-11-012222891810.3390/s22228918LiDAR-Only Crop Navigation for Symmetrical RobotRémy Guyonneau0Franck Mercier1Gabriel Oliveira Freitas2LARIS (Laboratoire Angevin de Recherche en Ingénierie des Systèmes), SFR MATHSTIC, University of Angers, F-49000 Angers, FranceLARIS (Laboratoire Angevin de Recherche en Ingénierie des Systèmes), SFR MATHSTIC, University of Angers, F-49000 Angers, FranceLARIS (Laboratoire Angevin de Recherche en Ingénierie des Systèmes), SFR MATHSTIC, University of Angers, F-49000 Angers, FranceThis paper presents a navigation approach for autonomous agricultural robots based on LiDAR data. This navigation approach is divided into two parts: a line finding algorithm and a control algorithm. The paper proposes several line finding algorithms (based on PEARL/Ruby approach) that extract lines from a LiDAR data set. Once the lines have been processed from the data set, a control algorithm filters these lines and, using a fuzzy controller, generates the wheel speed commands to move the robot among the crop rows. This navigation approach was tested using a simulator built on ROS middle-ware and Gazebo (the source codes of the simulation are available on GitHub). The results of the simulated experiments show that the proposed approach performs well for a large range of crop configurations (with or without considering weeds, with or without holes in the crop rows…).https://www.mdpi.com/1424-8220/22/22/8918crop navigationLiDAR measurementsline extractionfuzzy controllerROS/Gazebo |
| spellingShingle | Rémy Guyonneau Franck Mercier Gabriel Oliveira Freitas LiDAR-Only Crop Navigation for Symmetrical Robot Sensors crop navigation LiDAR measurements line extraction fuzzy controller ROS/Gazebo |
| title | LiDAR-Only Crop Navigation for Symmetrical Robot |
| title_full | LiDAR-Only Crop Navigation for Symmetrical Robot |
| title_fullStr | LiDAR-Only Crop Navigation for Symmetrical Robot |
| title_full_unstemmed | LiDAR-Only Crop Navigation for Symmetrical Robot |
| title_short | LiDAR-Only Crop Navigation for Symmetrical Robot |
| title_sort | lidar only crop navigation for symmetrical robot |
| topic | crop navigation LiDAR measurements line extraction fuzzy controller ROS/Gazebo |
| url | https://www.mdpi.com/1424-8220/22/22/8918 |
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