Automatic Row Switching Algorithm Using 2D LiDAR

Autonomous navigation in greenhouses algorithms have been developed to enhance the greenhouse productivity in order to satisfy the high demand of resource the overpopulation is causing. Many authors have already designed navigation algorithms when the robot is inside the lane; nevertheless, there are no algorithms to change lane at the headland of the greenhouse. This work uses a 2D LIDAR to develop an automatic row-switching algorithm using obstacle avoidance techniques by adding the vectors created by the LIDAR lectures and using weighted vectors to propel the robot to the other row. This algorithm was tested in a greenhouse at the end of a row, obtaining 93% of efficiency.