@article{oai:kitami-it.repo.nii.ac.jp:02000355,
 author = {Abhijeet Ravankar and Ankit A. Ravankar and Arpit Rawankar and Yohei Hoshino},
 journal = {Agriculture},
 month = {},
 note = {Abstract: In recent years, autonomous robots have extensively been used to automate several
vineyard tasks. Autonomous navigation is an indispensable component of such field robots.
Autonomous and safe navigation has been well studied in indoor environments and many algorithms
have been proposed. However, unlike structured indoor environments, vineyards pose special
challenges for robot navigation. Particularly, safe robot navigation is crucial to avoid damaging the
grapes. In this regard, we propose an algorithm that enables autonomous and safe robot navigation
in vineyards. The proposed algorithm relies on data from a Lidar sensor and does not require a GPS.
In addition, the proposed algorithm can avoid dynamic obstacles in the vineyard while smoothing
the robot’s trajectories. The curvature of the trajectories can be controlled, keeping a safe distance
from both the crop and the dynamic obstacles. We have tested the algorithm in both a simulation
and with robots in an actual vineyard. The results show that the robot can safely navigate the lanes
of the vineyard and smoothly avoid dynamic obstacles such as moving people without abruptly
stopping or executing sharp turns. The algorithm performs in real-time and can easily be integrated
into robots deployed in vineyards.},
 title = {Autonomous and Safe Navigation of Mobile Robots in Vineyard with Smooth Collision Avoidance},
 volume = {11},
 year = {2021}
}