Mapping for Autonomous Navigation of Agricultural Robots Through Crop Rows Using UAV

摘要

Mapping is fundamental to the autonomous navigation of agricultural robots, as it provides a comprehensive spatial understanding of the farming environment. Accurate maps enable robots to plan efficient routes, avoid obstacles, and precisely execute tasks such as planting, spraying, and harvesting. Row crop navigation presents unique challenges, and mapping plays a crucial role in optimizing routes and avoiding obstacles in coverage path planning (CPP), which is essential for efficient agricultural operations. This study proposes a simple method for using Unmanned Aerial Vehicles (UAVs) to create maps and its application to row crop navigation. A case study is presented to demonstrate the method’s viability and illustrate how the resulting map can be applied in agricultural scenarios. This study focused on two major row crops, namely corn and soybean, but the results indicate that map creation is feasible when the inter-row spaces are not obscured by canopy cover from the adjacent rows. Although the study did not apply the map in a real-world scenario, it offers valuable insights for guiding future research.