Vision Based Reactive Navigation for Agricultural Robotics Operations

Muhammad, Umar
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Given the lack of labour and the increasing demand of agriculture requiring a lot of manpower, agriculture is a sector that would greatly benefit from automation and robotics solutions. The technologies and algorithms developed in the robotics sector for localization and autonomous navigation have been intensively addressed in the last two decades, mainly in indoor environments (for example, logistics warehouses). In these cases, the scenario is usually quite structured, controlled, predictable and limited in size, and the terrain is usually quite flat and regular. Lidar based SLAM, for instance, has been intensively implemented and deployed with great results. These solutions, however, do not perform well in agricultural scenarios. The objective of this Thesis is to develop: ● A reactive navigation solution, based on vision and lidar sensors, in order to obtain a robust navigation solution. ● Overcome the problems associated with navigation derived from an erratic localization system, given the difficulty of the scenario. ​
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