地図不要のLiDARベース自律ナビゲーションシステムによるぶどう園走行
A Map-Free LiDAR-Based System for Autonomous Navigation in Vineyards
LiDARと車輪エンコーダのみを用い、地図なしでぶどう園の列間・旋回・列端走行を実現するナビゲーションシステムを提案し、シミュレーションと実環境で有効性を検証した。
著者: Riccardo Bertoglio, Veronica Carini, Stefano Arrigoni, Matteo Matteucci
分類: cs.RO
原文アブストラクト
Agricultural robots have the potential to increase production yields and reduce costs by performing repetitive and time-consuming tasks. However, for robots to be effective, they must be able to navigate autonomously in fields or orchards without human intervention. In this paper, we introduce a navigation system that utilizes LiDAR and wheel encoder sensors for in-row, turn, and end-row navigation in row structured agricultural environments, such as vineyards. Our approach exploits the simple and precise geometrical structure of plants organized in parallel rows. We tested our system in both simulated and real environments, and the results demonstrate the effectiveness of our approach in achieving accurate and robust navigation. Our navigation system achieves mean displacement errors from the center line of 0.049 m and 0.372 m for in-row navigation in the simulated and real environments, respectively. In addition, we developed an end-row points detection that allows end-row navigation in vineyards, a task often ignored by most works.
