Development of Robust Ridge Detection Method and Control System for Autonomous Navigation of Mobile Robot in Agricultural Farm

摘要

In this paper, we propose a robust ridge detection method for autonomous navigation of a mobile robot in agricultural fields using an inexpensive RGB-D camera system. In this system, the ridge center-line is estimated using the depth images from RGB-D sensor by using our proposed methods. We propose an autonomous driving system utilizing digital optimal control regulator for high-precision motion and robust recognition of ridge features. From the experimental evaluation, an accuracy level of ±1.5 cm robot traversal along the farm ridge was recorded.