Smooth-planner: a Robust Gradient-based Local Trajectory Planning Method for Non-holonomic Orchard Robots
Year: 2026
Type: article
Abstract: This study proposes Smooth-Planner, a robust gradient-based local trajectory planning method for non-holonomic orchard robots operating in narrow row environments. The method employs a B-spline–based optimization framework that explicitly considers kinematic feasibility and collision avoidance without relying on dense global maps. Field experiments conducted in a standardized orchard demonstrate stable and repeatable performance, with lateral deviations effectively constrained and a minimum safety clearance of 0.90 m consistently maintained from crop rows. The results validate the practical safety and reliability of the proposed approach for autonomous agricultural operations.
Source: INMATEH Agricultural Engineering
Authors: Fanjun MENG, Fa SUN, Mengmeng NI, Zhisheng ZHAO, Lili YI
Institution: Shandong University of Technology
Language: English
Subfield: Control and Systems Engineering
Field: Engineering
Domain: Physical Sciences
SDG: Zero hunger
Open Access status: diamond
OpenAlex ID: W7204264757