Robot navigation in orchards with localization based on Particle filter and Kalman filter

Pieter M. Blok, Koen van Boheemen, Frits K. van Evert, Joris IJsselmuiden, Gook-Hwan Kim

Abstract: Highlights•Two localization algorithms compared in a Dutch apple orchard using Husky robot.•Two experiments assessed navigation accuracy and navigation robustness.•Particle filter outperformed Kalman filter on navigation accuracy and robustness.•Algorithms are applicable for autonomous robot navigation using a 2D LIDAR scanner.