Title
A ROS 2-Based Guidance System for Agricultural Vehicles: Architecture and Algorithm Design
Authors
[ 1 ] Wydział Automatyki, Robotyki i Elektrotechniki, Politechnika Poznańska | [ 2 ] Instytut Robotyki i Inteligencji Maszynowej, Wydział Automatyki, Robotyki i Elektrotechniki, Politechnika Poznańska | [ SzD ] doctoral school student | [ P ] employee
Scientific discipline (Law 2.0)
[2.2] Automation, electronics, electrical engineering and space technologies
Year of publication
2025
Chapter type
chapter in monograph / paper
Publication language
english
Keywords
EN
- autonomous vehicle
- ROS 2
- agriculture
- path tracking
- guidance system
- field robotics
Abstract
EN This paper presents the design of a guidance system for agricultural autonomous vehicles, implemented within the ROS 2 framework. The system is modular and composed of a local planner and a guidance controller, designed to handle real-time path tracking based on reference trajectories. This solution supports scalable deployment on agricultural machines and integrates GNSS-based localization and odometry-based motion estimation. A layered ROS 2 architecture is proposed to facilitate integration and testing of the system. Results of simulations and preliminary experiments are promising, showing the potential of the system to support autonomous field navigation.
Date of online publication
09.10.2025
Pages (from - to)
102 - 109
License type
other
Ministry points / chapter
20
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