Design of an All-Purpose Terrace Farming Robot

TL;DR

This paper presents Aarohi, an autonomous terrace farming robot capable of climbing steep terraces and performing farming tasks, with a focus on design, navigation algorithms, and modular adaptability for diverse agricultural needs.

Contribution

The paper introduces a novel, customizable terrace farming robot with a robust mechanical design and autonomous navigation algorithms tailored for unstructured terrains.

Findings

Successful prototype demonstrating stair climbing and farming operations

Robust navigation algorithms for unstructured terrains

Modular design enabling customization for various tasks

Abstract

Automation in farming processes is a growing field of research in both academia and industries. A considerable amount of work has been put into this field to develop systems robust enough for farming. Terrace farming, in particular, provides a varying set of challenges, including robust stair climbing methods and stable navigation in unstructured terrains. We propose the design of a novel autonomous terrace farming robot, Aarohi, that can effectively climb steep terraces of considerable heights and execute several farming operations. The design optimisation strategy for the overall mechanical structure is elucidated. Further, the embedded and software architecture along with fail-safe strategies are presented for a working prototype. Algorithms for autonomous traversal over the terrace steps using the scissor lift mechanism and performing various farming operations have also been discussed. The adaptability of the design to specific operational requirements and modular farm tools allow Aarohi to be customised for a wide variety of use cases.