LIDAR-based autonomous navigation method for an agricultural mobile robot in strawberry greenhouse: AgriEco Robot

Abdelkrim Abanay; Lhoussaine Masmoudi; Mohamed El Ansari; Javier Gonzalez-Jimenez; Francisco-Angel Moreno; Abdelkrim Abanay; Lhoussaine Masmoudi; Mohamed El Ansari; Javier Gonzalez-Jimenez; Francisco-Angel Moreno

doi:10.3934/electreng.2022019

AIMS Electronics and Electrical Engineering

2022, Volume 6, Issue 3: 317-328. doi: 10.3934/electreng.2022019

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Research article

LIDAR-based autonomous navigation method for an agricultural mobile robot in strawberry greenhouse: AgriEco Robot

1.
LCS laboratory, Physics Dept., Faculty of Science, Mohammed V University in Rabat, Morocco
2.
LIA Laboratory, Computer Science Department, Faculty of Sciences, Moulay Ismail University in Meknes, Morocco
3.
Machine Perception and Intelligent Robotics Group (MAPIR-UMA), Malaga Institute for Mechatronics Engineering and Cyber-Physical Systems (IMECH.UMA), Univ. of Malaga, Spain

Received: 04 July 2022 Revised: 23 August 2022 Accepted: 09 September 2022 Published: 19 September 2022

This paper presents an autonomous navigation method for an agricultural mobile robot "AgriEco Robot", with four-wheel-drive and embedded perception sensors. The proposed method allows an accurate guidance between strawberry crop rows while automatically spraying pesticides, as well as detecting the end and switching to the next rows. The main control system was developed using Robot Operating System (ROS) based on a 2D LIDAR sensor. The acquired 2D point clouds data is processed to estimate the robot's heading and lateral offset relative to crop rows. A motion controller is incorporated to ensure the developed autonomous navigation method. Performance in terms of accuracy of the autonomous navigation has been evaluated in real-world conditions within strawberry greenhouses, proving its usefulness for automatic pesticide spraying.
- agricultural mobile robot,
- autonomous navigation,
- 2D LIDAR,
- strawberry greenhouse
Citation: Abdelkrim Abanay, Lhoussaine Masmoudi, Mohamed El Ansari, Javier Gonzalez-Jimenez, Francisco-Angel Moreno. LIDAR-based autonomous navigation method for an agricultural mobile robot in strawberry greenhouse: AgriEco Robot[J]. AIMS Electronics and Electrical Engineering, 2022, 6(3): 317-328. doi: 10.3934/electreng.2022019

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Abstract

This paper presents an autonomous navigation method for an agricultural mobile robot "AgriEco Robot", with four-wheel-drive and embedded perception sensors. The proposed method allows an accurate guidance between strawberry crop rows while automatically spraying pesticides, as well as detecting the end and switching to the next rows. The main control system was developed using Robot Operating System (ROS) based on a 2D LIDAR sensor. The acquired 2D point clouds data is processed to estimate the robot's heading and lateral offset relative to crop rows. A motion controller is incorporated to ensure the developed autonomous navigation method. Performance in terms of accuracy of the autonomous navigation has been evaluated in real-world conditions within strawberry greenhouses, proving its usefulness for automatic pesticide spraying.

References

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