Development of a robot for agricultural field scouting

Abstract

Since agricultural environments are mostly in unstructured feature information, in order to facilitate agricultural robots to better adapt to environmental change problems in agricultural environments, this paper proposes a robot system architecture for agricultural fields scouting. Firstly, the hardware architecture of the robot and its required sensors are considered, then the AMCL route planning algorithm is applied. The depth camera+lidar+RTK approach is used for the robot's map construction, the simulation model of robot route planning by ROS, the robot design by SolidWorks, and finally the required sensors and hardware structure parts are analyzed and summarized. Based on the considered project, it is planned to create a field agricultural scouting robot, which will become part of the implementation of a digital twin in crop production.