Articles
Navigation of a differential robot for transporting tasks in Mediterranean greenhouses
Article number
1426_48
Pages
347 – 354
Language
English
Abstract
Agriculture is key to sustaining the population growth of society, as it plays a key role in animal and human nutrition.
Another key factor is also the sustainability of processes, which is why it is important for agriculture to be sustainable.
In the pursuit of this sustainability, automation and in particular robotization can be tools for problem optimal solving.
On the other hand, precision agriculture in greenhouses makes it possible to optimize quantity and quality production while maximizing profit.
There are many tasks that are carried out in a greenhouse, but not all of them are feasible using robots.
One of the most common tasks is transport.
This paper explains one of the results of the Agricultural Collaborative Robots inside IoT (AGRICOBIOT) project.
In particular the AGRICOBIOT I robot, which is part of a fleet of multi-functional robots destined, among other tasks, to transport harvested fruit, tools, etc., inside the greenhouse.
The robot has been designed based on a generic commercial differential mobile platform, which has been adapted to carry out this task collaborating with the human.
The work describes the details of this robot and validates its operation in Gazebo using a 3D model of a greenhouse located in Almeria (southern Spain). Specifically, a solution is proposed to the problem of navigating the entire greenhouse, considering for the presence of unexpected or dynamic objects and people in the corridors by means of a global and local planner from those available in the Nav2 framework.
Another key factor is also the sustainability of processes, which is why it is important for agriculture to be sustainable.
In the pursuit of this sustainability, automation and in particular robotization can be tools for problem optimal solving.
On the other hand, precision agriculture in greenhouses makes it possible to optimize quantity and quality production while maximizing profit.
There are many tasks that are carried out in a greenhouse, but not all of them are feasible using robots.
One of the most common tasks is transport.
This paper explains one of the results of the Agricultural Collaborative Robots inside IoT (AGRICOBIOT) project.
In particular the AGRICOBIOT I robot, which is part of a fleet of multi-functional robots destined, among other tasks, to transport harvested fruit, tools, etc., inside the greenhouse.
The robot has been designed based on a generic commercial differential mobile platform, which has been adapted to carry out this task collaborating with the human.
The work describes the details of this robot and validates its operation in Gazebo using a 3D model of a greenhouse located in Almeria (southern Spain). Specifically, a solution is proposed to the problem of navigating the entire greenhouse, considering for the presence of unexpected or dynamic objects and people in the corridors by means of a global and local planner from those available in the Nav2 framework.
Publication
Authors
A. López-Gázquez, F.J. Mañas-Alvarez, J.C. Moreno, F. Cañadas-Aránega, J.A. Sánchez
Keywords
agriculture robot, Mediterranean greenhouse, automated transportation, Gazebo simulation, 3D modelling, navigation, ROS2
Groups involved
- Division Precision Horticulture and Engineering
- Division Greenhouse and Indoor Production Horticulture
- Working Group Nettings in Horticulture (subgroup of Protected Cultivation in Mild Winter Climates)
- Working Group Light in Horticulture
- Working Group Organic Greenhouse Horticulture
- Working Group Vegetable Grafting
- Working Group Modelling Plant Growth, Environmental Control, Greenhouse Environment
- Working Group Protected Cultivation, Nettings and Screens for Mild Climates
- Working Group Computational Fluid Dynamics in Agriculture
- Working Group Design and Automation in Integrated Indoor Production Systems
- Working Group Mechanization, Digitization, Sensing and Robotics
- Working Group Greenhouse Environment and Climate Control
- Division Landscape and Urban Horticulture
- Commission Agroecology and Organic Farming Systems
- Division Vegetables, Roots and Tubers
- Working Group Vertical Farming
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