Multi-camera GPS-free Nonlinear Model Predictive Control strategy to traverse orchards

被引：1
作者：
Villemazet, A. [1 ,2 ]
Durand-Petiteville, A. [3 ]
Cadenat, V. [1 ,2 ]
机构：
[1] Univ Toulouse, CNRS, UPS, Toulouse, France
[2] CNRS, LAAS, 7 Ave Colonel Roche, F-31400 Toulouse, France
[3] Univ Fed Pernambuco UFPE, Dept Engn Mecan, Recife, PE, Brazil
来源：
2023 EUROPEAN CONFERENCE ON MOBILE ROBOTS, ECMR | 2023年
关键词：
LOCALIZATION; NAVIGATION; VISION;
D O I：
10.1109/ECMR59166.2023.10256300
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
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.
引用
收藏
页码：20 / 26
页数：7
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