Cleaning Robot for Free Stall Dairy Barns: Sequential Control for Cleaning and Littering of Cubicles

  • Ilja StasewitschEmail author
  • Jan Schattenberg
  • Ludger Frerichs
Conference paper
Part of the Advances in Intelligent Systems and Computing book series (AISC, volume 1092)


Rising cost pressure and growing farm sizes in dairy farming with constant or even declining working capacity require new robotic solutions in this field. A logical approach is to automate the cleaning due to the high manual workload at this task. Therefore, a cleaning robot is being developed which removes liquid manure from the running surfaces and maintains the cubicles. The cubicles are cleaned of liquid manure with a brush and maintained by the help of a conveyor belt with bedding. The navigation of the robot is presented which is based on a 2.5-D SLAM and localization with two 2-D lidars. The focus is however on the sequential control of this cleaning task which is solved by using semantic maps, work routes, an active collision avoidance strategy and a brush force control. This functioning procedure is shown with experiments in a artificial stall and in a real stall barn.


Mobile robotic application Indoor agricultural robot Free stall barn Process robotization 



The project was supported by funds of the German Government‘s Special Purpose Fund held at Landwirtschaftliche Rentenbank.


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Copyright information

© Springer Nature Switzerland AG 2020

Authors and Affiliations

  • Ilja Stasewitsch
    • 1
    Email author
  • Jan Schattenberg
    • 1
  • Ludger Frerichs
    • 1
  1. 1.Institut für mobile Maschinen und NutzfahrzeugeTechnische Universität BraunschweigBraunschweigGermany

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