Information Perception Method for Fruit Trees Based on 2D LiDAR Sensor

To solve the problem of orchard environmental perception, a 2D LiDAR sensor was used to scan fruit trees on both sides test platform obtain their position. Firstly, two-dimensional iterative closest point (2D-ICP) algorithm complete cloud data sides. Then, combining lightning connection (LAPO) and density-based clustering (DBSCAN), tree detection method based (LAPO-DBSCAN) proposed. After obtaining using 2D-ICP algorithm, LAPO-DBSCAN position trees. The experimental results show that positive rate 96.69%, false 3.31%, average processing time 1.14 s, verifying reliability algorithm. Therefore, this can be accurately find trees, meaning it applied navigation in later stage.