Autonomous Navigation for Orchard Mobile Robots: A Rough Review

摘要

Autonomous navigation is the premise of the application of intelligent orchard machinery, which can help the orchard mobile robot to carry out multi-functional operations without human control. This paper describes the current research status of orchard autonomous navigation technologies, mainly discusses sensing solutions for autonomous navigation in orchard, navigation data processing algorithms and navigation control strategies. First, existing single-sensor based navigation solutions in orchard and their limitations are described. Multi-sensor based navigation has high accuracy, which is the development trend of orchard navigation in the future. Second, navigation data processing algorithms is the key of environmental perception and path planning for orchard robots. Different algorithms for orchard feature extraction and data fusion are introduced. Third, navigation control strategies are discussed.