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.
