Design of an autonomous self-propelled platform for performing agricultural tasks

摘要

This paper describes the construction, kinematics and control system of a four-wheeled mobile robot for performing agrotechnical tasks of a wide range, from transporting crops and equipment in the field to the possible installation of additional units for various agricultural operations. The robot has a modular design to increase adaptability and, accordingly, increase economic efficiency in these industries. The platform is designed taking into account the specifics of operation, in particular during field work. A platform control system was also implemented that allows working in the mode of following a person. Laboratory and field tests showed the suitability of the development for agricultural tasks and the use of attachments.