ROS-Based Unmanned Mobile Robot Platform for Agriculture

Abstract

While the demand for new high-tech technologies is rapidly increasing, difficulties arpresented, such as aging and population decline in rural areas. In particular, autonomous mobilrobots have been emerging in the agricultural field. Worldwide, huge investment is being made in thdevelopment of unmanned agricultural mobile robots; meanwhile with the development of robotsmodern farms have high expectations of increased productivity. However, in the agricultural worenvironment, it is difficult to solve these problems with the existing mobile robot form, due to thdifficulties of various environments. Typical problems are space constraints in the agricultural worenvironment, the high computational complexity of algorithms, and changes in the environmenTo solve these problems, in this paper, we propose a method to design and operate a mobile roboplatform that can be used in a greenhouse. We represent a robot type with two drive wheels along with four casters that can operate on path and rail. In addition, we propose a technology for multi-AI deep learning system to operate a robot, an algorithm that can operate such a robot, and VPN-based communication system for network and security. The proposed method is expected tincrease productivity and reduce labor costs in the agricultural work environment.