Configuration and specifications of an autonomous quadruped robot with an embedded LiDAR sensor for characterizing woody crop canopies

J. Torres Sánchez; L. León; R. de la Rosa; F. López-Granados; F. Pérez-Porras; F.J. Mesas-Carrascosa

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Configuration and specifications of an autonomous quadruped robot with an embedded LiDAR sensor for characterizing woody crop canopies

In: Precision agriculture '25

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J. Torres Sánchez

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L. León

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R. de la Rosa

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F. López-Granados

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F. Pérez-Porras

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F.J. Mesas-Carrascosa

F.J. Mesas-Carrascosa null

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Type:: Chapter

Pages:: 481–487

DOI:: https://doi.org/10.1163/9789004725232_062

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Dar Hadith al Hassania

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3D models are useful for crown characterization in woody crops. Among the technological alternatives for generating these models, LiDAR is optimal for capturing canopy geometry and porosity. However, uncrewed aerial platforms with LiDAR have limited penetration, and most ground-based platforms are not autonomous and can encounter difficulties in challenging terrains. A lightweight, autonomous quadruped robot with a LiDAR sensor was tested in a high-density olive orchard. Trials involved varying robot speeds and scanning from one or both sides. Results showed incomplete canopy reconstruction from one side. Canopy parameters were speed-sensitive but correlated. This integration advances canopy characterization for breeding and management.

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Precision agriculture '25

E-Book ISBN:: 9789004725232

Publisher:: Wageningen Academic

Print Publication Date:: 18 Jun 2025

Subjects
- Life Sciences
  - General
  - Agriculture & Environment

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Configuration and specifications of an autonomous quadruped robot with an embedded LiDAR sensor for characterizing woody crop canopies

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Precision agriculture '25

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