Autonomous navigation of ground robot for vineyard monitoring

摘要

In recent years, precision agriculture has gained a lot of momentum in automated agriculture research. With increasing aging population around the world and shortage of labor for agricultural tasks, automated farming is believed to play a key role to sustain the agricultural growth. In this paper, we present an autonomous robot navigation for vineyard monitoring and maintenance. To mark the position of tree trunks and rows, mapping of the vineyard using range sensor is presented. The rows are identified for navigating the robot and path planning is devised to be used for monitoring the field. The experiments were performed in actual scenarios, and the results are presented.