Оperator's server development for controlling the movement of a robotic platform

Viktor Vladimirovich Goldyban; Aliaksandr Anatolyevich Zheshka; Vladimir Vitalyevich Azarenko; Siarhei Leonidovich Herasiuta; Maksim Igorevich Kurylovich; Nikolay Georgievich Bakach; Valeria Pavlovna Selivanova

Viktor Vladimirovich Goldyban Scientific and Practical Center of the National Academy of Sciences of Belarus for Agricultural Mechanization https://orcid.org/0000-0002-5332-926X
Aliaksandr Anatolyevich Zheshka Scientific and Practical Center of the National Academy of Sciences of Belarus for Agricultural Mechanization https://orcid.org/0000-0002-5956-8974
Vladimir Vitalyevich Azarenko National Academy of Sciences of Belarus https://orcid.org/0000-0003-2122-3281
Siarhei Leonidovich Herasiuta LLC «Robototechnika i oblachnye technologii» https://orcid.org/0009-0007-5714-4426
Maksim Igorevich Kurylovich Scientific and Practical Center of the National Academy of Sciences of Belarus for Agricultural Mechanization https://orcid.org/0009-0005-3422-3071
Nikolay Georgievich Bakach Scientific and Practical Center of the National Academy of Sciences of Belarus for Agricultural Mechanization https://orcid.org/0000-0002-5491-9229
Valeria Pavlovna Selivanova Scientific and Practical Center of the National Academy of Sciences of Belarus for Agricultural Mechanization https://orcid.org/0009-0007-4756-358X

Keywords: precision agriculture, electronic compass, autonomous traffic safety, operator's server, autonomous traffic control, GPS navigation, robotic platform, localization, cartography, laser scanner, stereo camera, odometry, row spacing, point cloud, data aggregation.

Abstract

A promising direction for the development of agricultural production is the integrated robotization of crop production processes. This is explained by the reduction of labor resources in agricultural enterprises, the performance of work in conditions of dust and gas pollution, excessive vibration and noise levels, interaction with fertilizers and pesticides, and overtime work during peak periods of crop cultivation. Autonomous agricultural machinery makes it possible to reduce the need for the number of employed operators in crop production, and minimize the negative impact of machinery on humans and the environment. An analysis of literature sources shows that there is currently positive research experience in the use of robotic platforms for fertilization and pesticides, tillage, sowing and planting crops, monitoring and care of crops, and even harvesting. This article examines the оperator's server development for autonomous remote control of a robotic platform. The architecture of a multi-agent control system for the robotic platform is presented. A query typing system is implemented to ensure flexible data exchange between the server and agents. The research was conducted to organize control of the Smouz robotic platform during herbicide treatments of row crops.