Autonomous Agricultural Operations on Slope Terrain by Electric Vehicle Platform

This study proposes an electric crawler-type robot for autonomous weeding operations on steep slopes. We designed a coverage weeding path for autonomous travel for robots using a global navigation satellite system. The machine was designed to adjust the height of both crawlers to address variations in slope. In addition, the path following the deviation error of the robot with different roll angles was measured. The proposed robot demonstrated optimal performance when the roll angle was set to 17.7°, resulting in an average lateral deviation error of 0.02 m and a weeding area coverage of 99.3%.