An autonomous robotic system for extra-terrestrial agriculture

U radu je napravljen pregled istraživačkog područja u segmentima izvanzemaljske robotike i poljoprivrede. Objašnjeno je na koji način prilagoditi trenutne robotske sustave uvjetima na drugim planetima. Napravljene su i opisane elektromehaničke preinake na Scout mini mobilnoj platformi kako bi se udovoljilo zadataku prenošenja biljaka u plasteniku. Razvijen je i sagrađen sustav podizanja biljaka baziran na pneumatici. Prilagođeni su već postojeći algoritmi lokalizacije, upravljanja i planiranja mobilnim robotom u okviru ROS navigacijskog sloja. Za pozicioniranje mobilnog robota u uskim prostorima, razvijeno je upravljanje pozicijom niže razine uz pomoć PID regulatora. Cjelokupni sustav je programski implementiran u ROS okruženju i pisan u Python programskom jeziku. Rad cijelog sustava prikazan je na autonomnoj sekvenci sađenja sjemenki biljaka. U toj sekvenci osim mobilnog robota sudjeluje i robotska ruka koja ima zadatak zasaditi sjemenku u zemlju. U tu svrhu dizajniran je i izrađen alat za sađenje sjemenki.This thesis presents an overview of research in the fields of extraterrestrial robotics and agriculture. It explains how to adapt current robotic systems to conditions on other planets. The study includes detailed descriptions of electromechanical modifications made to the Scout mini mobile platform, specifically designed for transferring plants within a greenhouse setting. A pneumatic-based system for lifting plants was developed and constructed. Existing algorithms for localization, control, and planning within the ROS navigation layer were modified to suit the mobile robot's requirements. For positioning the mobile robot in tight spaces, a lower-level position control with the help of a PID controller has been developed. The entire system was programmatically implemented in the ROS environment, utilizing the Python programming language. The operation of the entire system is shown in the autonomous sequence of planting seeds. In this sequence, in addition to the mobile robot, a robotic arm participates, which has the task of planting a seed in the ground. For this purpose, a tool for planting seeds was designed and made