Abstract
This paper details the design and development of a mobile platform specifically for use in a greenhouse, as well as the implementation of navigation capabilities to transition from a concrete path to parallel heating pipes, which also function as rails for the platform. The primary objective was to create a mobile platform that could be used for various tasks, equipped with multiple tools and robotic manipulators, and capable of aligning itself autonomously with the heating pipes. Navigation was accomplished using a depth camera to capture a point cloud, which was then compared to a reference image. The resulting transformation matrix provided the necessary rotational and translational data. Movement of the platform was achieved through simple linear and rotational motions based on odometry calculations of the platform's wheels.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Similar content being viewed by others
References
Autonomous Robotic Platforms for Greenhouses, https://research.qut.edu.au/qcr/Projects/autonomous-robotic-platforms-for-greenhouses/, last accessed 2022/12/14
Priva, Priva Octinion combine Kompano robotic activities — Priva, last accessed 22/08/28
Autonomous mobile platform for pest detection and control inside greenhouses, https://www.tekniker.es/en/autonomous-mobile-platform-for-pest-detection-and-control-inside-greenhouses, last accessed 2022/12/14
IntelRealsense for ROS, https://dev.intelrealsense.com/docs/ros-wrapper, last accessed 2022/12/14
O. Robotics, 203mm Double Aluminum Omni Directional Wheel Basic – 14124 – Oz Robotics, https://ozrobotics.com/shop/203mm-double-aluminum-omni-directional-wheel-basic-14124, last accessed 22/08/28
Klančar, Gregor, Zdešar, Andrej, Blažič, Sašo, Škrjanc, Igor.: Avtonomni mobilni sistemi. Založba FE, 2021
LiDAR point-cloud based 3D object detection implementation with colab, by Gopalakrishna Adusumilli, https://towardsdatascience.com/lidar-point-cloud-based-3d-object-detection-implementation-with-colab-part-1-of-2-e3999ea8fdd4, last accessed 2022/12/14
Ning, X., Li, F., Tian, G., Wang, Y.: An efficient outlier removal method for scattered point cloud data. PLoS ONE 13(8), e0201280 (2018). https://doi.org/10.1371/journal.pone.0201280
Global registration, Open3D, http://www.open3d.org/docs/release/tutorial/pipelines/global_registration.html, last accessed 2022/12/14
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2023 The Author(s), under exclusive license to Springer Nature Switzerland AG
About this paper
Cite this paper
Gimpelj, J., Semolič, M., Munih, M., Šlajpah, S., Mihelj, M. (2023). Navigation of a Mobile Platform in a Greenhouse. In: Petrič, T., Ude, A., Žlajpah, L. (eds) Advances in Service and Industrial Robotics. RAAD 2023. Mechanisms and Machine Science, vol 135. Springer, Cham. https://doi.org/10.1007/978-3-031-32606-6_46
Download citation
DOI: https://doi.org/10.1007/978-3-031-32606-6_46
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-031-32605-9
Online ISBN: 978-3-031-32606-6
eBook Packages: Intelligent Technologies and RoboticsIntelligent Technologies and Robotics (R0)