Design and development of a mobile platform for an agricultural robot prototype

Abstract

In this paper, we present the study and development of a mobile platform intended for an autonomous agricultural robot working in raspberry greenhouse. The platform is composed of a relatively robust chassis mounted on four motorized wheels. The first part of this study deals with the description of the mechanism design and strategies for motions according to some particular specifications in used in raspberry greenhouse. The second part presents the scheme of velocity commands and robot motions in different desired direction.