Autonomous Navigation of an Agricultural Robot Using RTK GPS and Pixhawk

This paper discusses the design, implementation, and performance of an autonomous navigation system built for an agricultural robot. The onboard precision GPS system allows the robot to navigate to potato plants previously identified as infected with Potato Virus Y (PVY), in order to remove them from the field efficiently. This autonomous robot is in-line with emerging technologies in the field of precision agriculture. The navigation system is based on a Pixhawk microcontroller for ease of use and affordability. Because only sick plants must be removed, an RTK GPS module from Swift Navigation was used to maximize accuracy. The supporting components, both electrical and mechanical, are covered in detail. This includes communication equipment, motors, and an enclosure to protect the components from weather and terrain. This AGV will serve as a test platform for sensors and grasping mechanisms that will eventually be integrated on a larger, more advanced, final version.