Development of an Autonomous Traveling System with Real-time Path Detection in a Steep-slope Citrus Orchards with Formed Pathways

Abstract

　To automate a small agricultural robot in steep-slope citrus orchards, we developed an autonomous traveling system using 3D LiDAR point clouds obtained after designing the orchards. The system detects target points based on the point cloud density of the slope and trees along the pathway and defines the pathway boundary using a cubic spline algorithm within a pathway width of 1.0 to 2.2 m, the traveling system did not cross the fall prevention line on the valley side. Additionally, the algorithm supplements the boundary using B-spline curves and incorporates the obstacle avoidance function, effectively detecting and avoiding obstacles; it was able to stop appropriately when there was an impact on traveling.