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Agricultural robots can make faster and more efficient several farming activities. Test the functionality of these robots in real world environments is time-consuming and costly thus, the use of simulation tools can represent a solution. The present study reports the implementation in ROS environment of robot autonomous navigation in a virtual custom-defined agricultural field and the simulation of the storage of harvested tomatoes. The task is correctly performed by the robot and the desired path is retraced with average position and heading errors equal to 0.157 m and 2.34°, respectively. The success rate of DWA algorithm was 100%, instead with dynamic obstacles the success rate for TEB was 85%.

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ROS-Based Autonomous Navigation of an Agricultural Robot for the Execution of a Farming Task

  • 会议论文

  • 发表日期：

    2025年

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  • Francesco Paciolla,
  • Simone Pascuzzi

摘要

Agricultural robots can make faster and more efficient several farming activities. Test the functionality of these robots in real world environments is time-consuming and costly thus, the use of simulation tools can represent a solution. The present study reports the implementation in ROS environment of robot autonomous navigation in a virtual custom-defined agricultural field and the simulation of the storage of harvested tomatoes. The task is correctly performed by the robot and the desired path is retraced with average position and heading errors equal to 0.157 m and 2.34°, respectively. The success rate of DWA algorithm was 100%, instead with dynamic obstacles the success rate for TEB was 85%.