Polibot is presented as an experimental platform for autonomous navigation in agricultural environments. The platform integrates tracked locomotion, LiDAR–IMU sensing, ROS 2 software modules, mapping, localization, path planning, and velocity-command arbitration for field operation. Experimental activities evaluate the navigation pipeline in scenarios representative of precision agriculture, where uneven terrain, repetitive crop-row geometry, and limited environmental features challenge localization and path following. The results highlight the capabilities, limitations, and future potential of Polibot as a testbed for autonomous agricultural robotics.
Polibot is presented as an experimental platform for autonomous navigation in agricultural environments. The platform integrates tracked locomotion, LiDAR–IMU sensing, ROS 2 software modules, mapping, localization, path planning, and velocity-command arbitration for field operation. Experimental activities evaluate the navigation pipeline in scenarios representative of precision agriculture, where uneven terrain, repetitive crop-row geometry, and limited environmental features challenge localization and path following. The results highlight the capabilities, limitations, and future potential of Polibot as a testbed for autonomous agricultural robotics.
POLIBOT AS AN EXPERIMENTAL PLATFORM FOR AUTONOMOUS AGRICULTURAL NAVIGATION
ANTONELLI, VINCENZO
2025/2026
Abstract
Polibot is presented as an experimental platform for autonomous navigation in agricultural environments. The platform integrates tracked locomotion, LiDAR–IMU sensing, ROS 2 software modules, mapping, localization, path planning, and velocity-command arbitration for field operation. Experimental activities evaluate the navigation pipeline in scenarios representative of precision agriculture, where uneven terrain, repetitive crop-row geometry, and limited environmental features challenge localization and path following. The results highlight the capabilities, limitations, and future potential of Polibot as a testbed for autonomous agricultural robotics.| File | Dimensione | Formato | |
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Tesi_Antonelli.pdf
non disponibili
Descrizione: Documento definitivo dell’elaborato di tesi di Laurea Magistrale in Mechanical Engineering di Antonelli Vincenzo 594233, caricato ai fini della procedura di conseguimento del titolo.
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56.02 MB
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Adobe PDF
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56.02 MB | Adobe PDF |
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https://hdl.handle.net/20.500.14253/67882