Weeding in organic orchards is a tedious process done either mechanically or by weed burning. Researchers at University of Southern Denmark and Aarhus University created the ASuBot (Aarhus and Southern Denmark University Robot), a self-driving tractor, to handle navigate around trees in organic orchards. Weeding is done using gas burners that the ASuBot makes sure is not damaging the trees.
ASuBot is built on a Massey Fergusson 38-15 garden tractor outfitted with a SICK laser range finder and Topcon AES-25 steering. It is able to navigate autonomously without the use of GPS antennas, which would not work under shaded trees and would also make the robot more costly.
The FroboBox, the ASuBot's on-board computer, is a Linux-powered computer running the FroboMind software that runs on top of ROS. FroboMind provides a common, conceptual architecture for field robots and has already been integrated with five different platforms.
For more information about ASuBot and FroboMind, please see fieldrobot.dk.