BoniRob: an autonomous field robot platform for individual plant phenotyping

Abstract

Electronics, software and sensor systems have become key technologies in agriculture. Future development steps are autonomous field robots with high technological challenges and options for economical and ecological benefits. The robustness of autonomous robots is considered to be of highest relevance for a step from present research activities towards prototypes. The application ‘crop scout’ has been identified as a promising option to realise such a robot, called BoniRob, in an interdisciplinary cooperation with partners from electronic and agricultural industry as well as research institutions from engineering and agriculture. The vehicle is based on four wheel hub motors and hydraulic components, thereby offering a high flexibility with respect to navigation and changing height positions. Multi-sensor fusion - including complex sensor systems like spectral imaging and 3D time-of-flight cameras – and a RTK-DGPS system are applied for an individual plant phenotyping. The navigation concept of BoniRob is based on probabilistic robotics. A Gazebo-based 3D simulation environment for BoniRob is developed, including options for data and software exchange between the simulator and the real robot. In the first stage maize and wheat are considered for phenotyping, sensor and plant parameters have been defined according to the extended BBCH scale. As an additional option mapping of plant diseases based on spectral imaging information will be evaluated. The automatic phenotyping and mapping of all plants in a field will be a revolutionary change in the methods of field trials. Moreover, the availability of a robust crops scout platform will offer options for other field applications.