Multi-camera GPS-free Nonlinear Model Predictive Control strategy to traverse orchards
Résumé
This paper deals with autonomous navigation
through orchards. It proposes a multi-camera GPS-free strategy
relying on a Nonlinear Model Predictive Control (NMPC)
scheme to follow a reference path. This latter, based on a
Voronoi diagram for the row traversals or a spiral model for the
headland maneuvers, is computed as a Non-Uniform Rational
Spline (NURBS) curve making it possible to deal with multiple
orchard layouts. The method has been implemented on our
robot and validated through experimentation conducted in an
orchard
Domaines
Automatique / Robotique| Origine | Fichiers produits par l'(les) auteur(s) |
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