Multi-Camera GPS-Free Nonlinear Model Predictive Control Strategy to Traverse Orchards

Abstract

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.