Navigation Techniques for Mobile Robots in Greenhouses

摘要

This article discusses navigation methods for mobile agricultural robots in greenhouses. Today, many dangers of repetitive and hazardous agricultural tasks for humans could be avoided by using robots. The problem of autonomous navigation in greenhouses has been solved using both deliberative and pseudo-reactive techniques. The first one utilizes a map-based algorithm to create a safe, obstacle-free path to circulate throughout the greenhouse. The second technique applies a sensor-feedback algorithm to move through the greenhouse corridors. Furthermore, along the trajectory a sensorial map is built. Both approaches have been implemented and tested in a real environment, with promising results.