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HerdSafe CowBot: Autonomous Navigation and Localization Performance in Constrained Dairy Barn Environments

Published by the American Society of Agricultural and Biological Engineers, St. Joseph, Michigan www.asabe.org

Citation:  2026 ASABE Annual International Meeting  2600555.(doi:10.13031/aim.202600555)
Authors:   Felix Michael Oguche, Jianfeng Zhou, Dr., Karen Funkenbusch, Scott Poock, Tianqi Yao, Fengkai Tian, Aaron Yoder, Dr., Hamza Farah, Supreet Aradhya, Guojie Ruan
Keywords:   Autonomous navigation; precision livestock farming; dairy barn robotics; RTK localization; Pure Pursuit controller; wheel odometry; IMU-based navigation; agricultural robotics.

Abstract. Maintaining reliable autonomous navigation in dairy barns presents significant challenges due to constrained geometries, dynamic obstacles, and variable sensing conditions. This study presents the design and evaluation of the navigation subsystem of the HerdSafe CowBot, an autonomous mobile platform developed for safe and repeatable operation in livestock environments. The system integrates positioning systems, inertial measurement units (IMU), and wheel odometry for localization, combined with a modular control architecture and a Pure Pursuit path-following algorithm. Experimental trials were conducted to evaluate localization stability, heading accuracy, trajectory tracking, and motion behavior. Results indicate that the system maintained a fixed positioning solution for 100% of the trial duration with a mean horizontal dilution of precision (HDOP) of 1.05. The IMU operated at a stable sampling rate of 48 Hz, and motion analysis showed controlled operation characterized by 45% stationary and 55% active movement, with a maximum linear speed of approximately 0.5 m s⁻¹ and a mean angular velocity of 0.034 rad s⁻¹. These findings demonstrate that the HerdSafe CowBot achieves reliable and stable navigation performance suitable for constrained dairy environments and provides a robust foundation for integrating autonomous navigation with precision livestock monitoring systems.

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