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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.
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https://hal.laas.fr/hal-03691877
Contributor : Viviane CADENAT Connect in order to contact the contributor
Submitted on : Thursday, June 9, 2022 - 2:20:32 PM
Last modification on : Friday, June 24, 2022 - 3:27:42 AM

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  • HAL Id : hal-03691877, version 1

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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. ⟨hal-03691877⟩

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