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

Abstract : 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.