In recent years, autonomous robots have extensively been used to automate several vineyard tasks. Autonomous navigation is an indispensable component of such field robots. Autonomous and safe navigation has been well studied in indoor environments and many algorithms have been proposed. However, unlike structured indoor environments, vineyards pose special challenges for robot navigation. Particularly, safe robot navigation is crucial to avoid damaging the grapes. In this regard, we propose an algorithm that enables autonomous and safe robot navigation in vineyards. The proposed algorithm relies on data from a Lidar sensor and does not require a GPS. In addition, the proposed algorithm can avoid dynamic obstacles in the vineyard while smoothing the robot’s trajectories. The curvature of the trajectories can be controlled, keeping a safe distance from both the crop and the dynamic obstacles. We have tested the algorithm in both a simulation and with robots in an actual vineyard. The results show that the robot can safely navigate the lanes of the vineyard and smoothly avoid dynamic obstacles such as moving people without abruptly stopping or executing sharp turns. The algorithm performs in real-time and can easily be integrated into robots deployed in vineyards.
Real-time 3D unstructured environment reconstruction utilizing VR and Kinect-based immersive teleoperation for agricultural field robots
