Development of agricultural robots based on ROS

The agricultural industry has become a major issue in many countries due to drastic weather changes and a decrease in the number of people willing to engage in agriculture.Therefore, this study attempts to develop a platform for agricultural robots so that robots can assist people in agricultural work.This study uses Robot Operating System (ROS) as the software foundation.Through this convenient software foundation, different agricultural robots can be developed quickly.This study uses this architecture to develop a lawn mower and leaf sweeper, which can be easily converted to different agricultural applications in the future.In this study, the control system architecture we used is different from the commonly used single-board computer or microcontroller architecture.Instead, we used an ultrasmall x86 mini-PC platform, mainly because the x86 platform used to be larger in size, more power consumption and other issues.However, the platform used in this study can be as small as 88mm*88mm*50mm, which is very close to the common Raspberry Pi or Jetson Nano, but the computing power, expansion capability and subsequent related development issues can be well developed.Finally, we are also trying to develop a web-based development and human-machine interface (HMI), hoping to make the subsequent development and use of different robots easier.