Autonomous Navigation and Obstacle Avoidance for Orchard Spraying Robots: A Sensor-Fusion Approach with ArduPilot, ROS, and EKF

Autonomous Navigation and Obstacle Avoidance for Orchard Spraying Robots: A Sensor-Fusion Approach with ArduPilot, ROS, and EKF

To address the challenges of low pesticide utilization, insufficient automation, and health risks in orchard plant protection, we developed an autonomous spraying vehicle using ArduPilot firmware and a robot operating system (ROS). The system tackles orchard navigation hurdles, including global navi...

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Bibliographic Details
Main Authors: Xinjie Zhu, Xiaoshun Zhao, Jingyan Liu, Weijun Feng, Xiaofei Fan
Format: Article
Language:English
Published: MDPI AG 2025-06-01
Series:Agronomy
Subjects:
orchard
spraying robots
autonomous cruise
obstacle avoidance
SLAM
ArduPilot
Online Access:https://www.mdpi.com/2073-4395/15/6/1373
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