1) A mobile robotic system was developed using an ARM9 processor running Linux to continuously monitor farm environment and plant conditions such as temperature, humidity, and soil moisture content through onboard sensors. 2) The robotic system includes a servo motor based robotic arm for collecting soil samples and testing soil parameters, and utilizes a digital PID controller for precise position and speed control of the mobile robot. 3) Wireless control and data acquisition are accomplished using Zigbee, and a GUI created with Qt Creator displays the sensor data on a host system.

1. DESIGN AND DEVELOPMENT OF DIGITAL PID
CONTROLLER FOR DC MOTOR DRIVE SYSTEM USING
EMBEDDED PLATFORM FOR MOBILE ROBOT
ABSTRACT:
In Agriculture industry, plants are prone to diseases caused by pathogens and
environment conditions and it is a prime cause to lose of revenue. It requires continuous
monitoring of plants and environment parameters to overcome this problem. A mobile
Robotic system for monitoring these parameters using wireless network has been envisaged
here and developed based on ARM-Linux platform. Robotic platform consists of ARM9
based S3C2440 processor from SAMSUNG and Linux Kernel, Motor driver, robot
mechanical assembly. The farm environment and plant condition such as temperature,
humidity soil moisture content etc. are continuously monitored through suitable data
acquisition system incorporated in the robotic system. A servo motor based robotic arm is
designed for collecting soil sample and test various soil parameters. A closed loop feedback
algorithm based on Digital PID controller has been developed for precise position and speed
control of mobile robot. The wireless control of mobile robot and monitored data acquisition
is accomplished using zigbee wireless protocol. For displaying acquired data on host system a
Graphical user interface is designed using qt creator framework. For independent functioning
of mobile robot, application program is written in c language and cross compiled using armLinux-gcc compiler on Ubuntu 10.04 platform and ported on the memory of ARM processor.