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International Conference on Intelligent Robotics and Applications

ICIRA 2016: Intelligent Robotics and Applications pp 26–39Cite as

Rapid Developing the Simulation and Control Systems for a Multifunctional Autonomous Agricultural Robot with ROS

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Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 9834))

Abstract

Building customized control system for specific robot is generally acknowledged as the fundamental section of developing auto robots. To simplify the programming process and increase the reuse of codes, this research develops a general method of developing customized robot simulation and control system software with robot operating system (ROS). First, a 3D visualization model is created in URDF (unified robot description format), and is viewed in Rviz to achieve motion planning with MoveIt! software package. Second, the machine vision provided by camera driver package in ROS enables the use of tools for image process, 3D point cloud analysis to reconstruct the environment to achieve accurate target location. Third, the communication protocols provided by ROS like serial, Modbus support the communication system development. To examine the method, we designed a tomato harvesting dual-arm robot, and conducted farming experiment with it. This work demonstrates the advantages of ROS when applied in robot control system development, and offers a plain method of building such system with ROS.

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References

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Acknowledgements

This research is founded by MOST of China under Grant No. 2014BAD08B01 and No. 2015BAF13B02, and partially supported by the National High Technology Research and Development Program of China under Grant No. 2013AA102307.

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Authors and Affiliations

  1. Institute of Mechatronics and Logistic Equipment, School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, 200240, People’s Republic of China

    Zhenyu Wang, Liang Gong, Qianli Chen, Yanming Li, Chengliang Liu & Yixiang Huang

Authors
  1. Zhenyu Wang
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  2. Liang Gong
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  3. Qianli Chen
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  4. Yanming Li
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  5. Chengliang Liu
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  6. Yixiang Huang
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Corresponding author

Correspondence to Zhenyu Wang .

Editor information

Editors and Affiliations

  1. Tokyo Metropolitan University , Tokyo, Japan

    Naoyuki Kubota

  2. Kyushu University , Fukuoka, Japan

    Kazuo Kiguchi

  3. University of Portsmouth , Portsmouth, United Kingdom

    Honghai Liu

  4. Tokyo Metropolitan University , Tokyo, Japan

    Takenori Obo

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© 2016 Springer International Publishing Switzerland

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Cite this paper

Wang, Z., Gong, L., Chen, Q., Li, Y., Liu, C., Huang, Y. (2016). Rapid Developing the Simulation and Control Systems for a Multifunctional Autonomous Agricultural Robot with ROS. In: Kubota, N., Kiguchi, K., Liu, H., Obo, T. (eds) Intelligent Robotics and Applications. ICIRA 2016. Lecture Notes in Computer Science(), vol 9834. Springer, Cham. https://doi.org/10.1007/978-3-319-43506-0_3

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  • DOI: https://doi.org/10.1007/978-3-319-43506-0_3

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-43505-3

  • Online ISBN: 978-3-319-43506-0

  • eBook Packages: Computer ScienceComputer Science (R0)

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