3.1 Experimental Environment and Parameters

Experiments were conducted at Ge Guan Ecological Park in Jiangsu Province, China (118°39’52”N, 32°13’14”E). Consisting of both structured and unstructured agricultural greenhouses, the park is suitable for mapping, localization, and navigation experiments. The four experimental scenarios along with the related ground structures are depicted in Fig. 3.
Scene 1 is a typical crop row planting scenario with a well-organized environment. However, the ground conditions between the two rows of crops are poor, as shown in Fig. 3(e). Scene 2 is a landscape greenhouse with lush plants and significant occlusion, but the road surface is flat. Scene 3 is a challenging unstructured greenhouse. The road conditions here vary, as shown in Fig. 3(f). Scene 4 is characterized by low crops, where the height of the plants is much lower than the height of the robot. The road surface is composed of a flat brick road and uneven soil.
The key parameters utilized in the experiments are presented in Table 2.