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Paper Information

Journal:   JOURNAL OF AGRICULTURAL MACHINERY   SPRING-SUMMER 2021 , Volume 11 , Number 1 (21) ; Page(s) 1 To 15.
 
Paper: 

Greenhouse Mobile Robot Navigation Using Wheel Revolution Encoding And Learning Algorithm

 
 
Author(s):  Heidari A., Amiri Parian J.*
 
* Biosystems Engineering Department, Faculty of Agriculture, Bu-Ali Sina University, Hamedan, Iran
 
Abstract: 
Repetitive and dangerous tasks such as harvesting and spraying have made robots usable in the greenhouses. The mechanical structure and navigation algorithm are two important parameters in the design and fabrication of mobile greenhouse robots. In this study, a four-wheel differential steering mobile robot was designed and constructed to act as a greenhouse robot. Then, the navigation of the robot at different levels and actual greenhouses was evaluated. The robot navigation algorithm was based on the path learning, so that the route was stored in the robot memory using a remote control based on the pulses transmitted from the wheels encoders; then, the robot automatically traversed the path. Robot navigation accuracy was tested at different surfaces (ceramics, concrete, dense soil and loose soil) in a straight path 20 meters long and a square path, 4×4 m. Then, robot navigation accuracy was investigated in a greenhouse. Robot movement deviation value was calculated using root mean square error (RMSE) and standard deviation (SD). The results showed that the RMSE of deviation of autonomous method from manual control method in the straight path to the length of 20 meters in ceramic, concrete, dense soil and loose soil were 4. 3, 2. 8, 4. 6 and 8 cm, and in the 4×4 m square route were 6. 6, 5. 5, 13. 1 and 47. 1 cm, respectively.
 
Keyword(s): Agricultural robot,Encoder sensor,Vehicle navigation,Wheeled mobile robot
 
 
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APA: Copy

HEIDARI, A., & AMIRI PARIAN, J. (2021). Greenhouse Mobile Robot Navigation Using Wheel Revolution Encoding and Learning Algorithm. JOURNAL OF AGRICULTURAL MACHINERY, 11(1 (21) ), 1-15. https://www.sid.ir/en/journal/ViewPaper.aspx?id=821201



Vancouver: Copy

HEIDARI A., AMIRI PARIAN J.. Greenhouse Mobile Robot Navigation Using Wheel Revolution Encoding and Learning Algorithm. JOURNAL OF AGRICULTURAL MACHINERY. 2021 [cited 2022January26];11(1 (21) ):1-15. Available from: https://www.sid.ir/en/journal/ViewPaper.aspx?id=821201



IEEE: Copy

HEIDARI, A., AMIRI PARIAN, J., 2021. Greenhouse Mobile Robot Navigation Using Wheel Revolution Encoding and Learning Algorithm. JOURNAL OF AGRICULTURAL MACHINERY, [online] 11(1 (21) ), pp.1-15. Available: https://www.sid.ir/en/journal/ViewPaper.aspx?id=821201.



 
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