Detecting parallel rows(ditches) for the robot to drive through in a potato field

asked 2020-10-16 15:01:50 -0500

Gherkins gravatar image

updated 2020-10-16 15:03:20 -0500

I'm working on a project for a robot that is supposed to drive through a potato field. The idea is that the robot follows drives over the potato rows with its wheels in the ditches. I'm wondering if it would be a good idea to try to detect these ditches with a lidar (it's currently angled at about 45 degrees aimed at the ground) or if a different sensor would be better suited for the job. It's also necessary for the robot to detect obstacles while driving through the field (e.g a farmer) and stop which would require writing my own planner if I understand it right (because the normal one tries to drive around it which is not an option). Would it be a good idea to use this tilted lidar to detect these ditches AND obstacles or would it be better to use the lidar horizontally for obstacle detection and a different sensor for detecting the elevated rows to drive over/detecting the ditches to drive through?

edit: the robot has 4 wheels with an elevated center so it will be able to drive over 1 or more potato rows.

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