Implementation on a harvesting robot of a sensor-based controller performing a u-turn

Emile Le Flecher; Adrien Durand-Petiteville; Viviane Cadenat; Thierry Sentenac; S. Vougioukas

Implementation on a harvesting robot of a sensor-based controller performing a u-turn

Emile Le Flecher ¹ Adrien Durand-Petiteville ² Viviane Cadenat ¹ Thierry Sentenac ³ S. Vougioukas ²

1 LAAS-RAP - Équipe Robotique, Action et Perception

LAAS - Laboratoire d'analyse et d'architecture des systèmes [Toulouse]

2 UC Davis - University of California [Davis]

3 ICA - Institut Clément Ader

Abstract : In this paper we investigate the navigation of a harvesting robot using sensor-based controllers in an orchard. More precisely, we focus our work on the particular u-turn maneuver which allows the mechanical system to move from the current row to the next one. By using sensor-based controllers, the control law is expressed in the sensor space, and the robot does not have to localize itself nor use a global map of the field. The navigation task can then be realized more accurately. This paper reports the implementation of two generic sensor-based controllers. These controllers allow a differential robot to follow spirals around a given point of interest. In this work, we adapt these two controllers to our specific robot (car-like system), before detailing the ROS implementation architecture. Both simulations and experimental results show the interest and the efficiency of our controllers to perform u-turns in an orchard.

Document type :

Conference papers

Domain :

Engineering Sciences [physics]

Complete list of metadatas

https://hal-mines-albi.archives-ouvertes.fr/hal-01950862
Contributor : Imt Mines Albi Ecole Nationale Supérieure Des Mines d'Albi-Carmaux <>
Submitted on : Tuesday, December 11, 2018 - 10:12:28 AM
Last modification on : Friday, October 11, 2019 - 8:23:21 PM

Implementation on a harvesting robot of a sensor-based controller performing a u-turn

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Implementation on a harvesting robot of a sensor-based controller performing a u-turn

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