Abstract:
It is necessary to improve the efficiency of plant monitoring and protection processes to
reduce pesticide inputs and reduce the chemical burden on the environment while maintaining the required level of food production. The task of designing, developing, testing and evaluating automated and
robotic systems for effective weed and pest control aimed at reducing the use of chemicals, improving
crop quality and improving the health and safety of industry workers is relevant. To effectively perform
the task of monitoring the state of crops, it is necessary to develop a transport subsystem for an agricultural robot with a navigation and orientation system that provides autonomous movement across the field
without the risk of damaging the plantings.
This article presents a block diagram of the transport platform of an autonomous agricultural robot,
consisting of a set of sensors and effectors that provide orientation and navigation of the robot among the
crops. A three-dimensional model of the location of sensors and effectors is also presented. A model of
the transport platform control system based on the invariant of the neurocognitive multi-agent architecture
is described. A program for the transport platform control system has been developed. It provides data
collection and aggregation, messaging between the platform and the server, as well as displaying data on
the user's screen. The proposed architecture of the transport subsystem will allow autonomous movement
of robots in a partially observed non-deterministic environment over sufficiently long distances without
the need for human control.
Keywords:robot, agricultural monitoring, autonomous navigation, transport platform.