A GNSS-free navigation strategy for orchards

• A. Durand-Petiteville UFPE
• V. Cadenat Université de Toulouse / CNRS-LAAS
• A. F. R. Araújo UFPE
• A. Herbulot Université de Toulouse / CNRS-LAAS
• A. Villemazet CNRS-LAAS
• A. F. L. A. da Silva UFPE
• C. Riou CNRS-LAAS

DOI: https://doi.org/10.5753/sbiagro.2023.26580

Resumo

This paper proposes a GNSS-free strategy allowing a robot to navigate through orchards autonomously. It relies on a perception system made of four cameras arranged to enlarge the robot’s field of view. Thanks to this choice, it becomes possible to perform complete navigation (both alley crossing and headland maneuvers) using only visual data, thus increasing the task’s robustness. Results validate the proposed strategy.

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