Autonomous Agricultural Tractor: Integrated Weed Detection and LiDAR Navigation for Precision Paddy Farming
Site-specific weed management in paddy farming offers substantial reductions in herbicide use over conventional broadcast spraying, but field deployment has been limited by three persistent challenges: robust crop-row navigation under canopy where GNSS degrades, real-time visual discrimination between rice and morphologically diverse weeds, and the asymmetric cost of misclassifying rice as weed, which is irreversible. This paper presents AgriNav, an integrated autonomous tractor system built around four ROS-coupled modules: a custom PyTorch reimplementation of WeedDet for rice detection, a parallel lightweight 1.68M-parameter CNN-FPN variant with asymmetric class weighting, an inverted-lo...
| Authors | Benjamin Merryman-Smith, Tony Nguyen, Bilal Dogutas et al. |
|---|---|
| Primary category | cs.RO |
| Published | 19 August 2026 |
| Last updated at source | 19 August 2026 |
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