Abstract

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 centerline 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 \(\pm {1.5}\) cm robot traversal along the farm ridge was recorded.

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