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Communication Dans Un Congrès Année : 2023

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

Résumé

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
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Dates et versions

hal-04634897 , version 1 (04-07-2024)

Identifiants

  • HAL Id : hal-04634897 , version 1

Citer

Antoine Villemazet, Adrien Durand-Petiteville, Viviane Cadenat. Multi-camera GPS-free Nonlinear Model Predictive Control strategy to traverse orchards. European Conference on Mobile Robots, Sep 2023, Coimbra (PT), Portugal. ⟨hal-04634897⟩
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