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AGRO-Nav: Autonomous Graph-based Orchard Navigation

arXiv · AI, language, vision and robotics · article · Aug 26, 2026 · UTC

Orchards form semi-structured environments in which parallel tree rows create natural driving corridors, yet narrow inter-row clearance and dense foliage lead geometry-agnostic grid planners to drift off the row center and risk trunk or canopy contact. We present AGRO-Nav, an automated framework for static graph-based global planning in orchards. From tree-row lines fitted to trunk clusters in a SLAM point cloud, it builds, without any manual waypoints, a sparse topological graph of intra- and inter-row connectivity; a global route is then found by Dijkstra search on this graph, connected to t

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