An embedded straight navigation system for inter-row tree tracking implementation in agricultural field

One of the unique features in the structured and well-organized agriculture field is the arrangement of the plants and crops in such long rows that leaves a small pathway in between them. This pathway is really important to facilitate the movement of the farmers or tractors in providing a maximum plant scouting and monitoring throughout the entire farm. Therefore, in this work, an embedded and automated navigation of the unmanned vehicle is developed to manipulate the minimal space in between the rows in order to navigate in the entire farm. A Bezier curve is applied to draft out the desired path and series of navigation schemes are deployed in order to maneuver the unmanned vehicle on the planned path as well as maintain its position to be in the middle of the path to avoid collision with the available trees or landmarks. Test results indicate that this work has demonstrated a simple and robust algorithm as well as low-level requirement for a small-scaled unmanned vehicle to travel between the crops in a straight navigation.