Constructing Local Orbit for Self-Operating Robot in Agricultural Greenhouse Based on ROS

Received: 06-01-2023

Accepted: 05-10-2023

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Issue: Vol. 21 No. 10 (2023)

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KỸ THUẬT VÀ CÔNG NGHỆ

How to Cite:

Huong, P., & Duyen, N. (2024). Constructing Local Orbit for Self-Operating Robot in Agricultural Greenhouse Based on ROS. Vietnam Journal of Agricultural Sciences, 21(10), 1282–1293. http://testtapchi.vnua.edu.vn/index.php/vjasvn/article/view/1197

Constructing Local Orbit for Self-Operating Robot in Agricultural Greenhouse Based on ROS

Pham Thi Lan Huong (*) 1 , Nguyen Thi Duyen 1

  • 1 Khoa Cơ - Điện, Học viện Nông Nghiệp Việt Nam

    • Keywords

    Agricultural Robot, ROS, Timed Elastic Bands, Omni robot

    Abstract


    This paper proposed a local path planner coping with the collision-free navigation problem which considers both static and dynamic obstacles based on Timed Elastic Bands (TEB)aggregated with Simultaneously Localization and Mapping (SLAM) for self-operating/mobile robots working in thegreenhouse environment. Moreover, the proposed system is a four-wheel Omni robot constructed using Robot Operating System (ROS) platform and implemented in a high-performance embedded computer Jetson-TX2 connected with a 3D camera and lidar to collect environmental data. The simulation results based on Gazebo and Rviz software show the effectiveness of using the ROS operating system, with the TEB algorithm in controlling and monitoring autonomous moving robots, avoiding obstacles in the greenhouse This is a research direction with great potential in high-tech agricultural applications.

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