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Design of Autonomous Driving Algorithms for Fruit harvesting in orchards

This paper designs an autonomous driving methodology in an orchard with a mobile robot attached to a manipulator to harvest fruit. We propose a methodology for mobile robots to recognize fruit trees and create paths to harvest fruit, and investigate LiDAR, IMU, image, and GPS sensors for various environment perceptions. In addition, the diagram of the driving platform for testing the algorithm and the configuration of the autonomous driving algorithm were designed.