Chapter 13

Review of Research in the Area

of Agriculture Mobile Robots

Sami Salama Hussen Hajjaj and Khairul Salleh Mohamed Sahari

Abstract Rise in demand for food worldwide has led the agriculture industry to
shift towards Corporate Agriculture; major conglomerates operate huge lands with
Precision Farming; maximizing outputs and utilization of resources while reduce
waste and costs. This efficiency required the introduction of Automation and
Robotics in Agriculture, which led to great technological challenges. This in turn
sparked interest in research in the area of Agriculture Mobile Robots (AMRs). This
paper reviews research in this area for the last 5 years; it highlights examples of
robots already in action in fields around the world, identifies trends and important
sub-topics, and finally outlines the direction of where research in Mobile
Agriculture Robots is heading.


Keywords Agriculture mobile robots Mobile robot navigation in agriculture 
 
Image processing for agriculture Tractor-trailer stability Agribots

13.1 The Need for Agriculture Mobile Robots

Food security is a global concern, governments worldwide are facing unprece-

dented rise in demand for food, human population is growing rapidly, but land and
agriculture resources remain the same, and in some cases it’s even shrinking.
This led to the rise of Corporate Agriculture; major conglomerates operate
large lands with precision agriculture philosophy; which focuses on maximizing
output and productivity, while fully utilizing the available land resources [1].
Just as with any industry, production efficiency requires automation and
elimination of human factor issues, which lead to great interest in incorporating

S. S. H. Hajjaj (&)  K. S. M. Sahari

Centre for Advanced Mechatronics and Robotics, Universiti Tenaga Nasional, Jalan
IKRAM-UNITEN, 43000 Kajang, Malaysia
e-mail: ssalama@uniten.edu.my

H. A. Mat Sakim and M. T. Mustaffa (eds.), The 8th International Conference 107
on Robotic, Vision, Signal Processing & Power Applications,
Lecture Notes in Electrical Engineering 291, DOI: 10.1007/978-981-4585-42-2_13,
 Springer Science+Business Media Singapore 2014
108 S. S. H. Hajjaj and K. S. M. Sahari

robotics into the agriculture industry. This has led to many technological and
engineering challenges, which in turn led to increase in interest in research in the
area of Agriculture Mobile Robots and Precision Autonomous Farming.
This research area has produced many successful stories; over the last
five years, robots have been introduced—successfully—into the agriculture
industry worldwide; robots tap rubber and work the land in India, pick citrus fruits
in the United States, harvest tomatoes and pick strawberries in China [2–6].
Others include solar powered robots picking dates from palm trees in Saudi
Arabia, robots transplanting rice and transporting other plants in Japan, and robot
inspecting irrigation water in Thailand [7–11]. Mobile robots also harvested white
asparagus and other crops in Greece [12].

13.1.1 An Overview of the Research on Agriculture Mobile

Robots (AMRs)

Upon looking up the term agriculture mobile robots on IEEE-indexed research

journals of the last five years, one can see that 42 % of this research focused on
agriculture-specific navigation and control, while 33 % focused on agriculture-
specific sensor technology and image processing, 21 % on robot stability and
handling rough terrain, and finally only 5 % focused on hardware/software
background systems needed to incorporate robotics in agriculture applications.
This is shown in Fig. 13.1.
This paper reviews research completed in each of these areas, identifies any
subgroups (if they existed) based on the topic of interest, and outlines important
findings and breakthroughs in each area, all in the attempt to identify the direction
research in Agriculture Mobile Robots is heading.

13.2 Agriculture-Specific Navigation and Control

Navigation is the challenge of preprogramming the robot with an algorithm to

allow it to identify its surroundings, avoid any obstacles, and reach its target. This
problem becomes even more challenging when the robot is outdoors, in a very
dynamic environment, as in the case of agriculture robots.

13.2.1 Stand-Alone Frameworks

Mingjun et al. [13] tested their algorithm; the Conditional Random Fields based
Near-to-Far Perception framework (CRFNFP), on agriculture robots and found
13 Review of Research in the Area of Agriculture Mobile Robots 109

Fig. 13.1 Breakdown of

research in agriculture mobile
robots (AMRs)

that it increased perception range better than the traditional local-map-based

navigation.
Patino et al. addressed the same challenge by applying Adaptive Critic Designs
(ACDs). Their simulation results showed that ACD-based intelligent controller did
indeed learn to guide the AUV through a set of points autonomously [14].
Cheng, J. et al. applied the Rapid-exploring Random Trees (Dual RTT) algo-
rithm to control a tractor-trailer mobile robot in an unknown environment. Results
of simulation and prototypes showed that the tractor-trailer was able to quickly
plan a feasible path under complex and unknown environments [15].
Long et al. developed a complete hardware/software agriculture robot system
that combined AHRS and DGPS-RTK navigation algorithms, four ultrasonic sen-
sors, and a C8051F040 microcontroller. The system showed high repeatability and
accuracy [16].
Hansen et al. applied the derivative free filters method, which fuses odometry and
gyro data with the surrounding fruit trees, which were modeled with lines created
using a 2D laser scanner. Kalmtool toolbox (of Matlab) was used for easy switching
between different filters without changing the base structure of the system [17].
Piyathilaka and Munasinghe developed a vision-based outdoor localization
system entirely of off-the-shelf components to guide a mobile robot in small agri-
cultural field, and were able to control a two wheel tractor in the same field [18].
110 S. S. H. Hajjaj and K. S. M. Sahari

13.2.2 Artificial Intelligence Related

Cheng, F. et al. applied the traditional artificial potential field method due to its
simplicity; simulation was used to model an apple growing and picking environ-
ment. Their results showed that productivity of apple picking robot was improved
[19].
Yan-hong, D. et al. solved the problem of optimizing the drive servo PID
controller of wheeled robots by first identifying the drive system by BP neural
network, then optimizing the controller by the genetic algorithm based on the afore
results [20].
Pazderski and Kozlowski applied the Transverse Function to control a multi-
body vehicle which consists of a unicycle-like tractor with three trailers. Their
algorithm was based on input transformation of an open-loop error dynamics [21].
Cariou et al. separated the navigation algorithm into three parts, steering, speed
control, and reversing, and combined them to control the vehicle. Their robots
were able to reverse automatically to connect the next reference track [22].

13.2.3 Fuzzy Controllers Related

de Sousa et al. combined simple fuzzy and non-fuzzy behaviors. Their strategy
was to coordinate behaviors that operate in different stages on the robotic archi-
tecture to perform navigation actions. The outcome reflected on the feasibility of
the approach [23].
Borrero et al. developed a fuzzy controller using a multivariable plant which
incorporated simplified linear model of the lateral dynamics of a vehicle whose
input were the linear combination of the rear and front steering angles [24].
Prema et al. developed fuzzy based micro-controller for their agriculture robot
that was able to plug the land, plant seeds, and sense the soil moisture. Their robot
was controlled remotely over the internet using LABVIEW [25].

13.2.4 GPS Localization Related

Jun, C. used inner information collected by inner sensors to control straight-line

motion of an agriculture mobile robot pulling a tractor for a short distance. Results
showed precision of position to be higher, allowing the robot to control itself
momentarily even when GPS and visual signal where unstable or missing [26].
Jun Zhou, W. achieved maneuverability over rough terrains by individually
actuating each wheel. He also combined machine vision, differential GPS, and an
inertial measurement unit for input gathering. However, he also reported that
precise control is difficult due to the over-constrained nature of the actuation [27].
13 Review of Research in the Area of Agriculture Mobile Robots 111

Hamid et al. utilized a combination of GPS for navigation and Sonar for locali-
zation to develop a low cost agriculture mobile robot that could navigate through the
desired waypoint and at the same time apply the obstacle avoidance rules [28].

13.3 Agriculture-Specific Sensor Technology and Image

Processing

Agriculture robots need to know that the crops they working on are ripe enough for
collection. They also need to identify obstacles and vegetation in the field. For all
that to work, they need a robust sensor and image processing system.

13.3.1 Image Based Algorithms for Agriculture Robots

Between 2009 and 2012, Lulio et al. worked on several projects related to
computer vision for agriculture robots. They developed a platform for image
processing and segmentation through an omnidirectional vision system to agri-
cultural mobile robots.
They first combined JSEG-based computational methods with BP-ANN for
image classification, characterization, and recognition. Then they combined it with
a customized BP multilayer perception (BP-MLP) algorithm in Matlab/Octave
environments, as well as structured heuristics methods in Simulink environment
[29–32].
Palipana et al. developed a semi-autonomous robot able to localize itself, based
on wireless sensor network combined with the use of Zigbee protocol. Also, an
extended Kalman filter and a fuzzy inference system were applied to filter the
initial training data. Results showed the robot to be accurate within the range of
2–10 m [33].
Zhao C. J. and Jiang G. Q. developed a simple and a robust vision based mobile
robot algorithm. Firstly, images captured were processed to obtain quasi naviga-
tion baseline, from which the navigation line was extracted to control the motion
of the robot. They reported that the system was simple to develop and implement
[34, 35].

13.3.2 Effects of Variance in Illumination

To overcome the influence of shadows on path recognition, Bo et al. developed a

navigation method based on SOM neural networks for image processing. It worked
as results showed the robot was able to navigate in the shadows accurately [36].
112 S. S. H. Hajjaj and K. S. M. Sahari

Rajendra et al. studied the impact of illumination intensity on area detection for
a strawberries picking robot. They concluded that because of its shape and distance
from the light source, illumination variation was almost negligible [37].
Morshidi et al. used BP neural Networks algorithms to segment color images
from RGB (red, green, blue) color space and projected them into HSV (hue,
saturation, value), to provide data points insensitive to illumination changes.
Results showed the effectiveness of the algorithm as images were segmented
reliably with less blobs [38].
Xiang et al. tackled the same problem, and they tested three algorithms of image
segmentation; R-G segmentation, normalized R-G segmentation, and band ratio
segmentation. Results showed that R-G segmentation was not adequate to counter
the effects of illumination variance, while the other two were effective [39].

13.3.3 Other Agriculture-Specific Image Related Research

Joycy and Prabavathy developed an algorithm for image segmentation that helps
agriculture robot identify the three items; green plants, soil, and sky, the main
items found in the field. Their algorithm depended on thresholding approaches
combined with adjusting the supervised fuzzy clustering [40].
Suzukiy et al. focused on the issue of human face detection and tracking, which
is very helpful for agriculture robots as it would make them more human friendly.
Their algorithm detected faces by focusing on skin color and eyes features [41].

13.4 Robot Stability and Handling Rough Terrain

In order to make agriculture mobile robots reliable in the field, the Robots must be
able to handle rough terrain. In most cases, robots would have to work on surfaces
that are uneven, covered with vegetation, contain animals and insects. The wheels
of the robots could slip, or even get tangled in the soil. Finally, robots have to be
sturdy enough to handle the unforgiving weather conditions.

13.4.1 Effect of Slip on Navigation in a Rough Terrain

Matveev et al. [42] tackled the problem path tracking when the robot is subjected
to wheel slips by dividing the guidance into two specific laws, one for pure sliding
controller, and other for a combined slip and motion controller.
Wang Y, et al. studied the same problem, but instead decided to incorporate
nonlinear friction, center-of-gravity shifts, and load changes, which are prevalent
under slip motion. To do so they proposed a digital acceleration control algorithm
to compensate for nonlinear friction [43].
13 Review of Research in the Area of Agriculture Mobile Robots 113

13.4.2 Stability of Tractor Trailer Motion

In agriculture applications, mobile robots would have to toe trailers, and control
the stability of the trailers, by controlling the motion of the robot, is very
important. Morales et al. [44] analyzed the effect of towing a single-axle trailer on
static tip-over stability for field mobile robots on slopes.
They proposed an algorithm, the Altered Supporting Polygons (ASP), for both
tractor and trailer. These ASPs were based on a force-torque static equilibrium
analysis that reshaped the corresponding ground contact supporting polygons. That
allowed them to tip-over stability for each unit by projecting its center of gravity
onto its ASP, even when both bodies have different inclinations [44].
Zhe Leng and Minor proposed a two-tier controller that directly controls the
curvature of the trailer’s trajectory. It allowed the control input to be more directly
related to path specification and handles path curvature discontinuity better.
Results demonstrated good performance on modest side-slope [45].
This problem is further complicated if the motion is in reverse. Due to the
instability of the reverse motion of the tractor-trailer mobile robot, Cheng J.
constructed and utilized a fuzzy controller via line-of-sight. Simulation showed
that the backward curve path tracking can be carried out successfully [46].

13.4.3 Tree Climbing Robots

Not all crops are within man’s reach, so Guan, Y. et al. tackled this problem by
developing biped climbing robot, or Climbot. Inspired by Inchworms, their robot
consisted of five 1-DoF joint modules connected in series and two special grippers
mounted at the ends. Results showed that not only Climbot was able to climb a
variety of media, but also to grasp and manipulate objects [47].
Lun and Xu developed another tree climbing robot; Treebot. Their climbing
algorithm is based on the use of minimal sensing resources. Once again inspired by
inchworms, the algorithm reconstructed the shape of a tree by the use of tactile
sensors. Then, with an efficient non-holonomic motion planning strategy, Treebot
identified the optimal climbing path before climbing it [48].

13.5 Support/Logistics Systems Needed for Agriculture

Robots

Incorporating robotics in the agriculture industry is a challenging undertaking;

resources would need to be dedicated for a successful implementation.
Koshi et al. proposed the Greenhouse Partner Robot System which is agricul-
tural support system in a greenhouse by cooperation between humans and robots,
114 S. S. H. Hajjaj and K. S. M. Sahari

focusing mainly on harvesting and pest control. Their system consisted of

Greenhouse Partner Robots, which was a four wheeled cart that ran autonomously
and a human supervisor [49].
In this system, the supervisor controlled the Greenhouse Partner Robots without
interference and the Greenhouse Partner Robots operated in accordance with
supervisor’s commands. The experimental results using two Greenhouse Partner
Robots illustrated the validity of the system [49].
Ali and Oudheusden proposed an integer linear programming formulation to
improve the utilization of agricultural vehicles during the crop harvesting process.
Crops were harvested by combined harvesters. The harvested product is trans-
ferred to a tractor trailer every time the combine harvester’s storage capacity is
reached [50].
The proposed planning method specified optimal routes and interactions for the
agricultural vehicles in the field. The planning model was based on the minimum-
cost network flow problem and it minimized non-productivity [50].

13.6 Discussion

One can notice that when it comes to research in agriculture mobile robots, the
main focus of research was on agriculture-specific navigation and control. Sec-
ondly, research focused on agriculture-specific image processing. These are
summarized in Table 13.1.
The total number of literature reported is 50. From the table, one can also see
that there were other sub-topics that are worth noting; the problem of tractor-trailer
stability consisted of 10 % of the overall research. Similarly, the problem of
variance in illumination, or the effect of shades on the quality of image processing
of plants and crops also consisted of 10 % of overall research.
Finally, it is also worth noting that nearly 15 % of the research was on stand-
alone frameworks, such as the Conditional Random Fields based Near-to-Far
Perception framework (CRFNFP), and similar frameworks.

13.7 Conclusions

Table 13.1 can also give us an insight into where research in agriculture mobile
robots is heading; agriculture specific navigation and image processing is primary
focus and interest of researchers. Getting the robot to know its way around the
field, and identifying its surroundings and the ripeness of the crops seems to be the
main focus.
It is also worth noting that some other issues do interest researchers as well; the
problem of tractor-trailer stability, the problem of variance of illumination
(shades), seems to be of interest.
13 Review of Research in the Area of Agriculture Mobile Robots 115

Table 13.1 Summary of research in the area of agriculure mobile robots (AMRs)
Category and sub-categories Percentage of overall research (%)
Agriculture-specific navigation and control 42
Stand-alone frameworks 15
Artificial neural network related 10
Fuzzy controllers related 8
GPS localization related 8
Agriculture-specific sensor technology and image processing 33
Image based algorithms for agriculture robots 18
Effects of variance in illumination 10
Others 5
Robot stability and handling rough terrain 21
Effect of slip on navigation in a rough terrain 5
Stability of tractor-trailer motion 10
Tree climbing robots 5
Support/logistics systems needed for agriculture robots 5

The introduction of automation and robotics in the agriculture is expected to

continue to grow. This means that research for efficient and cost effective agri-
culture mobile robots is expected to continue to grow and expand as well.

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