Design Concept and Modelling of a Tracked UGV for Orchard Precision Agriculture

Abstract

We present a ground robotic platform suited to agriculture applications. The design is specifically targeted for small/medium farms and it is characterized by marked features in terms of flexibility, reconfigurability and robustness. We present the tracked vehicle design concept as well as the mechanical model by emphasizing some aspects that make the platform particularly suited to operate in "all-terrains". We also present experimental results to validate the model.