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An Adaptive Control Architecture for Slope and Terrain Compensation in Autonomous Navigation in Mediterranean Greenhouses

arXiv · AI, language, vision and robotics · article · Sep 2, 2026 · UTC

The ability to move stably over terrain with varying slopes and textures is essential for mobile agricultural robots operating in complex and dynamic environments such as greenhouses, where small terrain irregularities can lead to significant navigation errors. This article presents a novel terrain-adaptation strategy based on the carried payload, ensuring accurate and robust trajectory tracking. The proposed approach is based on: (i) the experimental characterization of the most common types of greenhouse soil, concrete, compacted sand, and gravel, and (ii) the direct measurement of terrain s

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