This is a crop row detection algorithm based on LiDAR data with a nonlinear Model Predictive Control (MPC) as the controller to reach autonomous navigation in the agriculture fields.
[Project page] [Paper] [Video]
Autonomous navigation by using this navigation system in both simulated fields featuring various crops (corn and soybean) at different growth stages (young and mature), as well as in a real corn field.
visualization.mp4
cd ~/catkin_ws/src
git clone https://github.com/Kantor-Lab/LiDAR_CropRowDetection.git
cd ~/catkin_ws && catkin_make
Cuml Package (Recommend install it in conda environments)
Amiga simulation environments
cd ~/catkin_ws
source devel/setup.bash
roslaunch Lidar_RowDetect Lidar_RowDetect.launch
if you have used this project in your recent works please reference to it:
@misc{liu2024overcanopyautonomousnavigationcropagnostic,
title={Towards Over-Canopy Autonomous Navigation: Crop-Agnostic LiDAR-Based Crop-Row Detection in Arable Fields},
author={Ruiji Liu and Francisco Yandun and George Kantor},
year={2024},
eprint={2403.17774},
archivePrefix={arXiv},
primaryClass={cs.RO},
url={https://arxiv.org/abs/2403.17774},
}