On the design of AGRIMARO.Q, a reconfigurable omnidirectional rover for precision agriculture in greenhouses

Precision agriculture has significantly advanced in recent years and is now widely used to improve the quality and sustainability of agricultural products by applying the right treatment, in the right place, at the right time. This paper presents the development and testing of AGRIMARO.Q (AGRIcultural MAte RObot), a novel omnidirectional, three-wheeled robot designed for agricultural applications in structured environments such as greenhouses. The platform features a reconfigurable track-widening mechanism that enhances its versatility by allowing it to navigate crop rows of varying widths. The paper provides a detailed discussion of the robot's design, focusing on the track adjustment system and steering wheel drive subsystems, as well as the kinematic model and low-level control systems. Then, experimental tests are presented to evaluate both the robot’s energy consumption and its behavior in executing certain trajectories, such as row traversal and inter-row transitions, in different terrain types, replicating typical greenhouse operations.