Jul 2026· 2026 23rd International Conference on Ubiquitous Robots (UR)· pp. 468-475· 0 citations· 19 references
Computer Science
Abstract
This paper presents the integration and evaluation of an autonomous navigation system for a four-wheel steering (4WS) agricultural robot operating in opposite-phase steering mode within simulated blueberry plantation environments. The system combines opposite-phase steering kinematic modeling with wheel-based odometry fused via an Extended Kalman Filter, graph-based SLAM for environment mapping, Adaptive Monte Carlo Localization for pose estimation, Hybrid-A* path planning for kinematically-constrained trajectory generation, and Model Predictive Path Integral control for local motion execution, all orchestrated through a behavior tree framework within the ROS 2 Navigation Stack (Nav2). Three navigation tasks: perimeter traversal, inter-row serpentine coverage, and an extended multi-region circuit were conducted in a Gazebo-based simulation replicating blueberry row-crop geometry. The system completed all navigation goals without triggering recovery behaviors, validating the feasibility of the Nav2 framework for structured agricultural navigation.
Results show that search efficiency depends on alignment between exploration design and spatial structure, not universal strategy superiority, and that search efficiency depends on alignment between exploration design and spatial structure, not universal strategy superiority.
Service robots operating in complex indoor environments with dynamic obstacles and narrow spaces require accurate mapping, localization, navigation, and motion control for safe and efficient operation. However, integrated systems that combine all these processes within a unified framework remain limited. This study pro...
Suci Dwijayanti, Silfani Sandra Miranda, B. Suprapto et al.· International Journal of Ele...· 0 citations
The development of Autonomous Mobile Robots (AMRs) and Automated Guided Vehicles (AGVs) has caused a major shift in the way that the manufacturing industry works, especially in terms of how material flows through the factory environment, a key signature of industry 4.0 where a manufacturing environment is required to p...
Pratik Prajapati, Yetish Rane, A. Mahajan et al.· International Conference on...· 0 citations
This paper presents a unified ROS2 and Gazebo framework for evaluating reactive and map-based navigation strategies for a differential-drive robot under a common Time-to-Collision (TTC)-based Automatic Emergency Braking System (AEBS). Wall-following, distance-based and TTC-based Follow-the-Gap variants, Pure Pursuit, a...
S. Estrada, M. Melguizo, Jhoan Chacón et al.· 2026 IEEE Colombian Conferen...· 0 citations
A hybrid path planning algorithm that integrates an improved Bidirectional Rapidly-exploring Random Tree (BI-RRT) for global guidance with an enhanced Dynamic Window Approach (DWA) for local execution that improves search efficiency and maintains 100% success rate across tested environments.
In this paper, we propose a novel search-based hierarchical whole-body motion planning framework that can divide the planning process of a quadrotor into two parts: position-only planning and attitude-aware planning. A safe flight corridor (SFC) containing spatial scale information is designed to partition collision-fr...
Pei-Yu Cui, Hao Zhang, Zhixu Du et al.· Intelligence & Robotics· 0 citations
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