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Communication Dans Un Congrès Année : 2022

Autonomous Navigation Strategy for Orchards Relying on Sensor-based Nonlinear Model Predictive Control

Antoine Villemazet
Viviane Cadenat

Résumé

This paper deals with autonomous navigation through orchards. It proposes a strategy based on a sensorbased model predictive control law coupled with a spiral-based framework allowing to deal in a similar manner with the two main tasks: the in-row navigation and headland maneuvers. The Model-based Predictive Control scheme allows to deal with stability, boundaries of the actuators, and offers a solution to switch between the different tasks. Simulation results based on ROS and Gazebo are presented at the end of the paper.
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Dates et versions

hal-03691877 , version 1 (09-06-2022)

Identifiants

Citer

Antoine Villemazet, Adrien Durand-Petiteville, Viviane Cadenat. Autonomous Navigation Strategy for Orchards Relying on Sensor-based Nonlinear Model Predictive Control. IEEE/ASME international conference on Advanced Intelligent Mechatronics (AIM), Jul 2022, Sapporo, Japan. ⟨10.1109/AIM52237.2022.9863243⟩. ⟨hal-03691877⟩
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