A GNSS-free navigation strategy for orchards
Résumé
This paper proposes a GNSS-free strategy allowing a robot to navigate through orchards autonomously. It relies on a perception system made
of four cameras arranged to enlarge the robot’s field of view. Thanks to this
choice, it becomes possible to perform complete navigation (both alley cross-
ing and headland maneuvers) using only visual data, thus increasing the task’s
robustness. Results validate the proposed strategy.
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