Name
Abstract | ||
|---|---|---|
We present a versatile mobile robotic sprayer system, primarily aimed for pesticide application in greenhouses and for disinfection of indoor spaces. The prototype is built around a skid-steered wheeled platform driven by a pair of DC motors, and is equipped with an electronically controlled sprayer unit that is mounted on a pan/tilt robot arm for directing the spray. The robot can be operated either manually or in AGV mode, utilizing a magnetic guide sensor to track a predefined path, along with a depth camera and ultrasonic sensors for obstacle detection. The robot's control architecture employs a central Single Board Computer running ROS, with peripheral functions allocated to three 8-bit microcontrollers. Closed loop flow regulation schemes have been developed to provide precision variable application rate of the sprayed agents, combined with motion control strategies of the pan/tilt unit to implement rectangular coverage spraying. The robot's capabilities are demonstrated through a series of tests, involving laboratory experiments as well as application scenarios trials. |
Year | DOI | Venue |
|---|---|---|
2021 | 10.1109/ICAR53236.2021.9659395 | 2021 20th International Conference on Advanced Robotics (ICAR) |
Keywords | DocType | ISBN |
Spraying robot,Agricultural robotics,Greenhouse robot,Disinfection robot | Conference | 978-1-6654-3685-4 |
Citations | PageRank | References |
0 | 0.34 | 0 |
Authors | ||
3 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Christos Chrysoulakis | 1 | 0 | 0.34 |
| John Fasoulas | 2 | 0 | 0.34 |
| Michael Sfakiotakis | 3 | 0 | 0.34 |