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Modeling, Simulation, and Visualization of Agricultural and Field Robotic Systems

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Fundamentals of Agricultural and Field Robotics

Part of the book series: Agriculture Automation and Control ((AGAUCO))

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Abstract

Agricultural and field robots operating autonomously require several layers of technologies. To achieve the functionality and complexity needed, robot development takes place with simulation and visualization tools that can reduce physical prototyping and compliment field testing. Models are needed to implement simulation process and validate various modeling scopes. The degree of fidelity in reproducing the physical systems must be considered and decided as a part of the development process. Simulations of agricultural and field robots need dynamic system models of the robot, virtual world models, and sensor models, as well as three-dimensional solid models to visualize simulations. Agricultural and field robots often interact with the crop fields or plant environments, and so any simulation development process must also include interaction models between machine systems, soil, biological entities (e.g., plants, pests), and operators. This chapter provides an overview of modeling, simulation, and visualization aspects needed for the development of agricultural and field robotic systems. Different tool set scenarios are also described. In addition, a case study showing the use of Gazebo to model a phenotyping robot is presented.

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Authors and Affiliations

  1. Iowa State University, Ames, IA, USA

    Brian L. Steward, Mehari Z. Tekeste, Jingyao Gai & Lie Tang

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  1. Brian L. Steward
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  2. Mehari Z. Tekeste
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  3. Jingyao Gai
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  4. Lie Tang
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Correspondence to Brian L. Steward .

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Editors and Affiliations

  1. Biological Systems Engineering, Washington State University, Prosser, WA, USA

    Manoj Karkee

  2. Biological Systems Engineering, Washington State University, Prosser, WA, USA

    Qin Zhang

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Steward, B.L., Tekeste, M.Z., Gai, J., Tang, L. (2021). Modeling, Simulation, and Visualization of Agricultural and Field Robotic Systems. In: Karkee, M., Zhang, Q. (eds) Fundamentals of Agricultural and Field Robotics. Agriculture Automation and Control. Springer, Cham. https://doi.org/10.1007/978-3-030-70400-1_12

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