Autonomous Navigation of a Wheeled Mobile Robot in Agriculture Farming

1. Mobile Robot for Agriculture Farming Muhammad Aleem Siddiqui

2. Mobile Robots
Mobile robots have the capability to move around
in their environment and are not fixed to one
physical location.
Mobile robots can be "autonomous" (AMR -
autonomous mobile robot) which means they are
capable of navigating an uncontrolled environment
without the need for physical or electro-mechanical
guidance devices.

3. Block Diagram for Mobile Robot
On-Board Computer
Jetson / Raspberry Pi
Microcontroller
ATMega328 / Arduino
Mega
Motor Driver
Camera
Motors
Ultrasound
Distance
Sensor
IMU/GPS
Weeds Removal
Pin
Pest Removal
Vacuum
Spray Nozzle
Relay
Laser Sensor
Wheel
Encoders
IR Range
Sensor

4. Applications of using Mobile Robot in
Agricultural Farming
1. Pest Detection
2. Weeds Detection
3. Fertilization and Spraying
4. Crops Surveying
5. Yield Estimation
6. Seeding
7. Harvesting

5. Weeds Detection
A weed is a plant considered undesirable in
a particular situation, these plants grows or
reproduces aggressively and use resources
i.e. water, fertilizers and pesticides which
are necessary for the health of plants. That’s
why weed control is important in agriculture.
OpenCV Library or Convolutional Neural
Networks can be used to differentiate the
weeds from plants.
After identifying weeds successfully, with the
help of mobile robots, weeds can be
removed.

6. Pest Detection
A pest is any living organism, an insect,
which cause damage to agricultural crops,
which is invasive or troublesome to plants or
livestock.
Pests can also be identified using OpenCV
Library or Convolutional Neural Networks.
After identifying pests successfully, with the
help of mobile robots, these pests can be
removed using a simple vacume.

7. Spraying Pesticides and Liquid Fertilizers
The normalized difference vegetation index is
a simple graphical indicator that can be used
to analyze green vegetation of a field.
Examine your field via Drones or by Remote
Sensing tools i.e. ArcGIS, PostGIS periodically
can identify the change in color of plants and
in result it can save crops from fungal attack,