Severe working conditions, the cost reduction need and production growth justify the adoption of technological techniques in agricultural production. Currently, Global Navigation Satellite System (GNSS) based navigation systems are very popular in agriculture. However, relying only on GNSS data and the availability of crop maps that also need to be updated may become a problem. One may face lack of GNSS satellite signal during the path and the navigation system may fail. As an alternative, this paper presents the modeling, development and validation of a reactive navigation system for agricultural fields based on a frontal light detection and ranging (LiDAR) sensor and a H∞ robust controller. A small-scale mobile robot (Helvis3) was used to validate the controllers and carry out experiments in both controlled and farm scenarios. According to the experimental results, the proposed navigation system is capable of controlling the robot displacement between crop rows, keeping it in the middle of the corresponding path with minimum error, despite environmental disturbances.

中文翻译：

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基于H∞控制系统和玉米作物激光雷达读数的反应导航系统

恶劣的工作条件、降低成本的需要和生产增长证明在农业生产中采用技术技术是合理的。目前，基于全球导航卫星系统（GNSS）的导航系统在农业中非常流行。然而，仅依靠 GNSS 数据和同样需要更新的作物地图的可用性可能会成为一个问题。人们可能会在路径过程中面临 GNSS 卫星信号的缺乏，并且导航系统可能会出现故障。作为替代方案，本文介绍了基于正面光检测和测距 (LiDAR) 传感器和 H∞ 鲁棒控制器的农田反应导航系统的建模、开发和验证。小型移动机器人 (Helvis3) 用于验证控制器并在受控和农场场景中进行实验。