Orchard Traveling UGV Using a Laser Range Finder based Localization and Inverse Optimal Control

Abstract

Nowadays, automation techniques for agriculture are being urgent tasks. In this paper, an Unmanned Ground Vehicle (UGV) in orchard is proposed as a base platform for monitoring trees, pesticide spraying, harvesting and so on. The control system is composed by a localization method in an orchard using 2D laser range finder and a map of trees, a robust control law based on nonlinear control theory, and a path regeneration algorithm to giude the vehicle smoothly to the target path. Experimental results in an orchard using a by-wire vehicle to which the control algorithm is applied are reported.