Comparative Analysis of Two LiDAR-Driven Methods for Autonomous Navigation in Orchard Rows

Agricultural robotics has seen a growing interest in lightweight, map-free navigation strategies capable of operating reliably in semi-structured environments. This paper presents and compares two LiDAR-based autonomous navigation strategies designed for ground rovers operating within orchard rows. Both approaches rely primarily on real-time 2D LiDAR data, avoiding the need for prior maps or external localization systems. We describe the core principles behind each method, including row-following and turning maneuvers. A comparative evaluation is carried out through real-world testing with a physical prototype, highlighting the strengths and limitations of each strategy in terms of accuracy and robustness. Overall, both methods demonstrate strong performance, with minor differences that suggest the choice of strategy should be guided by the specific application requirements.