{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,21]],"date-time":"2026-03-21T19:18:39Z","timestamp":1774120719055,"version":"3.50.1"},"reference-count":51,"publisher":"MDPI AG","issue":"22","license":[{"start":{"date-parts":[[2023,11,17]],"date-time":"2023-11-17T00:00:00Z","timestamp":1700179200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"National Natural Science Foundation of China","award":["62203176"],"award-info":[{"award-number":["62203176"]}]},{"name":"National Natural Science Foundation of China","award":["SL2024A04j01318"],"award-info":[{"award-number":["SL2024A04j01318"]}]},{"name":"National Natural Science Foundation of China","award":["202308440524"],"award-info":[{"award-number":["202308440524"]}]},{"name":"2024 Basic and Applied Research Project of Guangzhou Science and Technology Plan","award":["62203176"],"award-info":[{"award-number":["62203176"]}]},{"name":"2024 Basic and Applied Research Project of Guangzhou Science and Technology Plan","award":["SL2024A04j01318"],"award-info":[{"award-number":["SL2024A04j01318"]}]},{"name":"2024 Basic and Applied Research Project of Guangzhou Science and Technology Plan","award":["202308440524"],"award-info":[{"award-number":["202308440524"]}]},{"name":"China Scholarship Council","award":["62203176"],"award-info":[{"award-number":["62203176"]}]},{"name":"China Scholarship Council","award":["SL2024A04j01318"],"award-info":[{"award-number":["SL2024A04j01318"]}]},{"name":"China Scholarship Council","award":["202308440524"],"award-info":[{"award-number":["202308440524"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Remote Sensing"],"abstract":"<jats:p>Obstacle avoidance control and navigation in unstructured agricultural environments are key to the safe operation of autonomous robots, especially for agricultural machinery, where cost and stability should be taken into account. In this paper, we designed a navigation and obstacle avoidance system for agricultural robots based on LiDAR and a vision camera. The improved clustering algorithm is used to quickly and accurately analyze the obstacle information collected by LiDAR in real time. Also, the convex hull algorithm is combined with the rotating calipers algorithm to obtain the maximum diameter of the convex polygon of the clustered data. Obstacle avoidance paths and course control methods are developed based on the danger zones of obstacles. Moreover, by performing color space analysis and feature analysis on the complex orchard environment images, the optimal H-component of HSV color space is selected to obtain the ideal vision-guided trajectory images based on mean filtering and corrosion treatment. Finally, the proposed algorithm is integrated into the Three-Wheeled Mobile Differential Robot (TWMDR) platform to carry out obstacle avoidance experiments, and the results show the effectiveness and robustness of the proposed algorithm. The research conclusion can achieve satisfactory results in precise obstacle avoidance and intelligent navigation control of agricultural robots.<\/jats:p>","DOI":"10.3390\/rs15225402","type":"journal-article","created":{"date-parts":[[2023,11,17]],"date-time":"2023-11-17T09:23:43Z","timestamp":1700213023000},"page":"5402","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":31,"title":["Visual Navigation and Obstacle Avoidance Control for Agricultural Robots via LiDAR and Camera"],"prefix":"10.3390","volume":"15","author":[{"given":"Chongyang","family":"Han","sequence":"first","affiliation":[{"name":"Key Laboratory of Key Technology on Agricultural Machine and Equipment, Ministry of Education, College of Engineering, South China Agricultural University, Guangzhou 510642, China"},{"name":"Department of Electronic Information and Bioengineering, Politecnico di Milano, 20133 Milan, Italy"}]},{"given":"Weibin","family":"Wu","sequence":"additional","affiliation":[{"name":"Key Laboratory of Key Technology on Agricultural Machine and Equipment, Ministry of Education, College of Engineering, South China Agricultural University, Guangzhou 510642, China"}]},{"given":"Xiwen","family":"Luo","sequence":"additional","affiliation":[{"name":"Key Laboratory of Key Technology on Agricultural Machine and Equipment, Ministry of Education, College of Engineering, South China Agricultural University, Guangzhou 510642, China"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-4946-4434","authenticated-orcid":false,"given":"Jiehao","family":"Li","sequence":"additional","affiliation":[{"name":"Key Laboratory of Key Technology on Agricultural Machine and Equipment, Ministry of Education, College of Engineering, South China Agricultural University, Guangzhou 510642, China"},{"name":"Department of Electronic Information and Bioengineering, Politecnico di Milano, 20133 Milan, Italy"}]}],"member":"1968","published-online":{"date-parts":[[2023,11,17]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"106608","DOI":"10.1016\/j.compag.2021.106608","article-title":"Swarm robots in mechanized agricultural operations: A review about challenges for research","volume":"193","author":"Albiero","year":"2022","journal-title":"Comput. 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