Implementation of a RTK GPS-Based Pure Pursuit Path Tracking Algorithm for the Autonomous Navigation of Strawberry and Specialty Crop Field

The development and implementation of the pure pursuit path tracking algorithm in conjunction with the utilization of a RTK GPS module on a differential-drive robot will be presented, focusing initially on its use in strawberry field navigation with possible application to other harvesting processes. Pose estimates produced by the RTK GPS module are used as inputs into the pure pursuit algorithm so that centimeter-level precision path following can be achieved. The navigation system includes a custom-built robot designed for strawberry field traversal as well as a variety of different sensors, including encoders, an accelerometer, and a gyroscope, to assist with pose estimation.;Field trials demonstrated successful implementation of the pure pursuit algorithm to a degree. Heading experiments showed that RTK GPS could act as a reliable source for heading measurements. Pure pursuit experiments showed that the robot could follow straight paths as well as 90 degree turns, although improvements in precision must be made before bringing the system to actual field use.