ROS2-Based Autonomous System for Precision Monitoring in Unstructured Crop Arrangement

This paper introduces a simulation framework for autonomous crop monitoring in irregular agricultural layouts using ROS2. Precision agriculture demands robots that navigate and monitor unpredictable crop patterns. Using the ROS2 Navigation Stack (Nav2), paths were planned and executed in virtual environments mimicking real-world fields. A Gazebo simulation with structured and unstructured crop layouts tested navigation strategies. A skid-steer robot with LiDAR and cameras demonstrated adaptability by navigating, collecting data, and avoiding obstacles. Performance evaluation via velocity profiles highlighted efficiency and stability. Results show ROS2 and Nav2’s potential in advancing precision agriculture and sustainable farming.