Veículos agrícolas terrestres não tripulados: uma revisão sob o ponto de vista da estabilidade

Fernandes, Hugo Rafacho; Polania, Edna Carolina Moriones; Garcia, Angel Pontin; Mendonza, Oscar Barrero; Albiero, Daniel

Hugo Rafacho Fernandes ^**Author for correspondence

Laboratório de Instrumentação e Controle, Departamento de Máquinas Agrícolas, Faculdade de Engenharia Agrícola, Universidade Estadual de Campinas/UNICAMP, Campinas-SP, Brasil, rafacho.hugo@gmail.com, ednacarolina27@gmail.com, angel.garcia@feagri.unicamp.br, daniel.albiero@feagri.unicamp.br

https://orcid.org/0000-0001-5909-7060

Edna Carolina Moriones Polania

Laboratório de Instrumentação e Controle, Departamento de Máquinas Agrícolas, Faculdade de Engenharia Agrícola, Universidade Estadual de Campinas/UNICAMP, Campinas-SP, Brasil, rafacho.hugo@gmail.com, ednacarolina27@gmail.com, angel.garcia@feagri.unicamp.br, daniel.albiero@feagri.unicamp.br

https://orcid.org/0000-0003-3014-0197

Angel Pontin Garcia

Laboratório de Instrumentação e Controle, Departamento de Máquinas Agrícolas, Faculdade de Engenharia Agrícola, Universidade Estadual de Campinas/UNICAMP, Campinas-SP, Brasil, rafacho.hugo@gmail.com, ednacarolina27@gmail.com, angel.garcia@feagri.unicamp.br, daniel.albiero@feagri.unicamp.br

https://orcid.org/0000-0002-8163-6638

Oscar Barrero Mendonza

Departament of Electronics Engineering, Universidad de Ibagué, Colombia, oscar.barrero@unibague.edu.co

https://orcid.org/0000-0003-3264-4129

Daniel Albiero

Laboratório de Instrumentação e Controle, Departamento de Máquinas Agrícolas, Faculdade de Engenharia Agrícola, Universidade Estadual de Campinas/UNICAMP, Campinas-SP, Brasil, rafacho.hugo@gmail.com, ednacarolina27@gmail.com, angel.garcia@feagri.unicamp.br, daniel.albiero@feagri.unicamp.br

https://orcid.org/0000-0001-6877-8618

*Author for correspondence

Editores do artigo: Professor Daniel Albiero - daniel.albiero@gmail.com e Professor Alek Sandro Dutra - alekdutra@ufc.br

Name	Suspension Type	Terrain characteristics			Cited work
Name	Suspension Type	Regularity	Cohesion	Slope	Cited work
BoniRob (V2)	Rigid	Regular	Firm	Low	(*BIBER et al.,* 2012BIBER, P. et al. Navigation System of the Autonomous Agricultural Robot “BoniRob. Workshop on Agricultural Robotics: Enabling Safe, Efficient, and Affordable Robots for Food Production, p. 1-7, 2012.; FLECKENSTEIN; DORNHEGE; BURGARD, 2017**FLECKENSTEIN, F; DORNHEGE, C; BURGARD, W. Efficient path planning for mobile robots with adjustable wheel positions. Proceedings - IEEE International Conference on Robotics and Automation, p. 2454-2460, 2017.)
TERRA-MEPP	Rigid	Regular	Soft	Low	(YOUNG; KAYACAN; PESCHEL, 2019YOUNG, S N.; KAYACAN, E; PESCHEL, J M. Design and field evaluation of a ground robot for high-throughput phenotyping of energy sorghum. Precision Agriculture, v. 20, n. 4, p. 697-722, 2019.)
Lady Bird	Rigid	Regular	Firm	Low	(*UNDERWOOD et al.,* 2015**UNDERWOOD, J. P. et al. Real-time target detection and steerable spray for vegetable crops. in proceedings, Workshop on Robotics in Agriculture at International Conference on Robotics and Automation (ICRA), 2015.)
RIPPA	Rigid	Regular	Firm	Low	(SALAH SUKKARIEH, 2016SUKKARIEH, S. An Intelligent Farm Robot for the Vegetable Industry. Sydney, 2016. p. 52.)
ecoRobotix	Rigid	Regular	Firm	Low	(ECOROBOTIX, 2017ECOROBOTIX. The autonomous robot weeder from Ecorobotix. [S.l.: s.n.], 2017. p. 1–4. Disponível em: <https:// www.ecorobotix.com/en/autonomous-robot-weeder/>. (Accessed: 10.08.2020). https:// www.ecorobotix.com/en/autonomou... )
ARA	Rigid	Regular	Firm	Low	(ECOROBOTIX, 2019ECOROBOTIX. ARA - Phenomobile Scouting Robot. [S.l.: s.n.], 2019. Disponível em: <https://www.ecorobotix.com/en/ autonomous-scouting-robot/>. (Accessed: 10.08.2020). https://www.ecorobotix.com/en/ autonomou... )
Xaver	Rigid	Regular	Firm	Low	(FENDT, 2020FENDT. Project Xaver: Research in the field of agricultural robotics. [S.l.: s.n.], 2020. Disponível em: <https://www.fendt.com/int/xaver>. (Accessed: 10.08.2020) https://www.fendt.com/int/xaver... )
MARS	Rigid	Regular	Firm	Low	(*BLENDER et al.,* 2016**BLENDER, T. et al. Managing a Mobile Agricultural Robot Swarm for a seeding task. IECON Proceedings (Industrial Electronics Conference), p. 6879-6886, 2016.)
Asterix	Rigid	Regular	Firm	Low	(*UTSTUMO et al.,* 2018**UTSTUMO, T. et al. Robotic in-row weed control in vegetables. Computers and Electronics in Agriculture, v. 154, n. 7034, p. 36-45, 2018.)
AgTracker	Rigid	Regular	Firm	Low	(XUE; ZHANG, L.; GRIFT, 2012XUE, J; ZHANG, L; GRIFT, T. E. Variable field-of-view machine vision based row guidance of an agricultural robot. Computers and Electronics in Agriculture, v. 84, p. 85-91, 2012.)
Octopus	Rigid	Regular	Firm	Low	(*REN et al.,* 2020**REN, G. et al. Agricultural robotics research applicable to poultry production: A review. Computers and Electronics in Agriculture, v. 169, p. 105216, 2020.)
Vegebot	Rigid	Regular	Firm	Low	(*BIRRELL et al.,* 2020**BIRRELL, S. et al. A field-tested robotic harvesting system for iceberg lettuce. Journal of Field Robotics, v. 37, n. 2, p. 225-245, 2020.)
Levin Robot	Rigid	Regular	Firm	Low	(LEVIN; DEGANI, 2016LEVIN, M; DEGANI, A. Design of a Task-Based Modular ReConfigurable Agricultural Robot. IFAC-PapersOnLine, v. 49, n. 16, p. 184-189, 2016.)
TED	Rigid	Regular	Firm	Low	(NAÏO TECHNOLOGIES, 2017NAÏO TECHNOLOGIES. Dino Large-Scale Vegetables Weeding Robot. [S.l.: s.n.], 2017. Disponível em: <https://www. naio-technologies.com/en/agricultural-equipment/large-scale-vegetable-weeding-robot/>. (Accessed: 20.10.2020). https://www. naio-technologies.com/en/ag... b)
OZ	Rigid	Regular	Firm	Low	(NAÏO TECHNOLOGIES, 2019NAÏO TECHNOLOGIES. Oz Weeding Robot. [S.l.: s.n.], 2019. Disponível em: <https://www.naio-technologies.com/ en/agricultural-equipment/weeding-robot-oz/>.(Accessed: 20.10.2020). https://www.naio-technologies.com/ en/ag... )
Grape-Project	Rigid	Regular	Firm	Low	(*ROURE et al.,* 2018**ROURE, F. et al. GRAPE: Ground Robot for vineyArd Monitoring and ProtEction. Conference: Iberian Robotics Conference, p. 249-260, 2018.)
Shrimp	Rigid	Regular	Firm	Low	(GUTIÉRREZ; WENDEL; UNDERWOOD, J., 2019GUTIÉRREZ, S; WENDEL, A; UNDERWOOD, J. Ground based hyperspectral imaging for extensive mango yield estimation. Computers and Electronics in Agriculture, v. 157, p. 126-135, 2019.)
Phenomobile	Rigid	Regular	Firm	Low	(*DEERY et al.,* 2014**DEERY, D. et al. Proximal remote sensing buggies and potential applications for field based phenotyping, v. 4, p. 349-379, 2014.)
Bakken Robot	Rigid	regular	Firm	Low	(BAKKEN; MOORE; FROM, 2019BAKKEN, M; MOORE, R; FROM, P. End-to-end Learning for Autonomous Navigation for Agricultural Robots. Northern Lights Deep Learning Workshop, 2019.)
UGV Platform	Rigid	Regular	Firm	Low	(BARRERO; TILAGUY; NOVA, 2018BARRERO, O; TILAGUY, S; NOVA, Y. Outdoors Trajectory Tracking Control for a Four Wheel Skid-Steering Vehicle. 2018 IEEE 2nd Colombian Conference on Robotics and Automation, CCRA 2018, IEEE, p. 1-6, 2018.)
mBase-MR7 robot	Rigid	Regular	Firm	Low	(*BENGOCHEA-GUEVARA et al.,* 2016**BENGOCHEA-GUEVARA, J. et al. Merge fuzzy visual servoing and GPS-based planning to obtain a proper navigation behavior for a small crop-inspection robot. Sensors, v. 16, n. 3, 2016.)
RobHortic	Rigid	Regular	Firm	Low	(*CUBERO et al.,* 2020**CUBERO, S. et al. RobHortic: A Field Robot to Detect Pests and Diseases in Horticultural Crops by Proximal Sensing. Agriculture, v. 10, n. 7, p. 276, 2020.)
Vitirover	Rigid	Regular	Firm	Low	(*DIAGO et al.,* 2015DIAGO, M. et al. Vinerobot: On-the-go vineyard monitoring with non-invasive sensors. Progres Agricole et Viticole, p. 1-4, 2015.; KERESZTES et al., 2014**KERESZTES, B. et al. Vineyard Vigilant & INNovative Ecological Rover (VVINNER): an autonomous robot for automated scoring of vineyards. Internation Conference of Agricultural Engineering, p. 6-10, 2014.)
MARIO	Rigid	Regular	Firm	Low	(*SHARIFI et al.,* 2018**SHARIFI, M. et al. Modelling and simulation of a non-holonomic omnidirectional mobile robot for offline programming and system performance analysis. Simulation Modelling Practice and Theory, v. 87, p. 155-169, 2018.)
Cotton Harvesting Robot	Rigid	Regular	Firm	Low	(*FUE, K. et al.,* 2020**FUE, K. et al. An Extensive Review of Mobile Agricultural Robotics for Field Ope-rations: Focus on Cotton Harvesting. AgriEngineering, Multidisciplinary Digital Publishing Institute, v. 2, n. 1, p. 150-174, 2020.)
MARIA	Rigid	Regular	Firm	Low	(*IQBAL et al.,* 2020**IQBAL, J. et al. Development of a Multi-Purpose Autonomous Differential Drive Mobil Robot for Plant Phenotyping and Soil Sensing. Electronics, v. 9, n. 9, p. 1550, 2020.)
AgROS	Rigid	Regular	Firm	Low	(TSOLAKIS; BECHTSIS; BOCHTIS, 2019TSOLAKIS, N; BECHTSIS, D; BOCHTIS, D. Agros: A robot operating system based emulation tool for agricultural robotics. Agronomy, v. 9, n. 7, 2019.)
Hiremath Robot	Rigid	Regular	Firm	Low	(*HIREMATH et al.,* 2014**HIREMATH, S. et al. Laser range finder model for autonomous navigation of a robot in a maize field using a particle filter. Computers and Electronics in Agriculture, v. 100, p. 41-50, 2014.)
ByeLab	Rigid	Regular	Soft	Low	(*VIDONI; GALLO et al.,* 2017**VIDONI, R. et al. ByeLab: An agricultural mobile robot prototype 496 for proximal sensing and precision farming. In: AMERICAN SOCIETY OF MECHANICAL ENGINEERS. ASME International Mechanical Engineering Congress and Exposition. [S.l.: s.n.], 2017.)
Xf-Rovim	Rigid	Regular	Firm	Low	(*REY et al.,* 2019**REY, B. et al. XF-ROVIM. A field robot to detect olive trees infected by Xylella fastidiosa using proximal sensing. Remote Sensing, Multidisciplinary Digital Publishing Institute, v. 11, n. 3, p. 221, 2019.)
Barbosa Robot	Rigid	Regular	Firm	Low	(*BARBOSA et al.,* 2019**BARBOSA, W S et al. Design and Development of an Autonomous Mobile Robot for Inspection of Soy and Cotton Crops. In: IEEE. 2019 12th International Conference on Developments in eSystems Engineering (DeSE). [S.l.: s.n.], 2019. p. 557-562.)

Name	Suspension Type	Terrain characteristics			Cited work
Name	Suspension Type	Regularity	Cohesion	Slope	Cited work
AgBot II	Passive	Regular	Tilled	Low	(*BAWDEN; BALL. et al.,* 2014BAWDEN, O. et al. A lightweight, modular robotic vehicle for the sustainable intensification of agriculture. Australasian Conference on Robotics and Automation, ACRA, 02-04-December-2014, 2014.; BAWDEN; KULK. et al., 2017**BAWDEN, O. et al. Robot for weed species plant-specific management. Journal of Field Robotics, v. 34, n. 6, p. 1179-1199, 2017.)
Autonomous Weeding robot	Passive	Regular	Tilled	low	(*BAKKER; ASSELT. et al.,* 2010**BAKKER, T. et al. Systematic design of an autonomous platform for robotic weeding. Journal of Terramechanics, v. 47, n. 2, p. 63-73, 2010.)
Thorvald II	Passive	Regular	Tilled	Half	(GRIMSTAD; FROM, 2017GRIMSTAD, L; FROM, P. Thorvald II - a Modular and Reconfigurable Agricultural Robot. IFAC-PapersOnLine, v. 50, n. 1, p. 4588-4593, 2017.)
Agribot	Passive	Regular	Tilled	Low	(*TABILE. et al.,* 2013**TABILE, R. A. et al. Application of systematic methods in the electromechanical design of an agricultural mobile robot. IFAC Proceedings Volumes (IFAC-PapersOnline), v. 4, p. 276-281, 2013.)
TerraSentia	Passive	Regular	Tilled	Low	(KAYACAN; ZHANG, Z.; CHOWDHARY, 2018KAYACAN, E; ZHANG, Z.; CHOWDHARY, G. Embedded High Precision Control and Corn Stand Counting Algorithms for an Ultra-Compact 3D Printed Field Robot. In: PROCEEDINGS of the Robotics: Science and Systems. Pittsburgh, USA: 20-30 June, 2018.; *ZHANG, Z. et al.,* 2020**ZHANG, Z. et al. High precision control and deep learning-based corn stand counting algorithms for agricultural robot. Autonomous Robots, 2020.)
IAW	Passive	Regular	Tilled	low	(*BAKKER; VAN ASSELT. et al.,* 2010**BAKKER, T. et al. Systematic design of an autonomous platform for robotic weeding. Journal of Terramechanics, v. 47, n. 2, p. 63-73, 2010.)
AVO	Passive	Regular	Tilled	Low	(ECOROBOTIX, 2020ECOROBOTIX. AVO - Switch to Weeding Robot. [S.l.: s.n.], 2020. Disponível em: <https://www.ecorobotix.com/en/avo-autonomous-robot-weeder/>. (Accessed: 10.08.2020). https://www.ecorobotix.com/en/avo-autono... )
Kiwi Harvester	Passive	Regular	Firm	Low	(*JONES. et al.,* 2019**JONES, M. H. et al. Design and testing of a heavy-duty platform for autonomous navigation in kiwifruit orchards. Biosystems Engineering, v. 187, p. 129-146, 2019.)
Ball Robot	Passive	Regular	Firm	Low	(BALL, 2015BALL, D. et al. Robotics for Sustainable Broad-Acre Agriculture. In: MEJIAS L., Corke P. , Roberts J. (eds) Field and Service Robotics. Springer Tracts in Advanced Robotics. [S.l.]: Springer, Cham, v. 105. p. 439-453, 2015.)
Strawberry harvesting robot	Passive	Regular	Tilled	Half	(*XIONG. et al.,* 2020**XIONG, Y. et al. An autonomous strawberry-harvesting robot: Design, development, integration, and field evaluation. Journal of Field Robotics, v. 37, n. 2, p. 202-224, 2020.)
DINO	Passive	Regular	Tilled	Low	(NAÏO TECHNOLOGIES, 2017NAÏO TECHNOLOGIES. Dino Large-Scale Vegetables Weeding Robot. [S.l.: s.n.], 2017. Disponível em: <https://www. naio-technologies.com/en/agricultural-equipment/large-scale-vegetable-weeding-robot/>. (Accessed: 20.10.2020). https://www. naio-technologies.com/en/ag... )
Vinbot	Passive	Irregular	Tilled	High	(*LOPES. et al.,* 2016**LOPES, C. M. et al. Vineyard Yield Estimation By Vinbot Robot - Preliminary Results With the White Variety Viosinho. July, 2016.)
VineRobot	Passive	Regular	Tilled	Low	(ROVIRA-MÁS; MILLOT; SÁIZ-RUBIO, 2015ROVIRA-MÁS, F; MILLOT, C; SÁIZ-RUBIO, V. Navigation strategies for a vineyard robot. American Society of Agricultural and Biological Engineers Annual International Meeting 2015, v. 5, p. 3936-3944, 2015.)
Autonomous Tractor	Passive	Regular	Tilled	Low	(*KAYACAN, Erkan; KAYACAN. et al.,* 2015**KAYACAN, E. et al. Towards agrobots: Identification of the yaw dynamics and trajectory tracking of an autonomous t r a c t o r. Computers and Electronics in Agriculture, v. 115, p. 78-87, 2015.)
Multi-sensor Robotic Plataform	Passive	Regular	Firm	Low	(MILELLA; REINA; NIELSEN, 2019MILELLA, A; REINA, G; NIELSEN, M. A multi-sensor robotic platform for ground mapping and estimation beyond the visible spectrum. Precision Agriculture, v. 20, n. 2, p. 423-444, 2019.)
CERES	Passive	Regular	Tilled	Half	(SOLAQUE; GUILLERMO SANCHEZ; ADRIANA RIVEROS, 2019SOLAQUE, L; SANCHEZ, G.; RIVEROS, A. Design and test of a path tracking controller to a high capability agricultural vehicle. ACM International Conference Proceeding Series, Part F1476, p. 60-64, 2019.)
Bergerman Robot	Passive	Regular	Firm	Low	(*BERGERMAN. et al.,* 2015**BERGERMAN, M. et al. Robot farmers: Autonomous orchard vehicles help tree fruit production. IEEE Robotics and Automation Magazine, v. 22, n. 1, p. 54-63, 2015.)
Swagbot	Passive	Irregular	Soft	High	(*WALLACE. et al.,* 2019**WALLACE, N. et al. Experimental validation of structured receding horizon estimation and control for mobile ground robot slip compensation horizon estimation and control for mobile ground robot slip compensation. Proc. of the 12th Conference on Field and Service Robotics, August, p. 1169-1175, 2019.)

Name	Suspension Type	Terrain characteristics			Cited work
Name	Suspension Type	Regularity	Cohesion	Slope	Cited work
Fernandes Robot	Active	Irregular	Tilled	High	(FERNANDES; GARCIA, 2018)
Wang Robot	Hybrid	Irregular	Soft	High	(*WANG. et al.,* 2019**WANG, Z. et al. Development of an agricultural vehicle levelling system based on rapid active levelling. Biosystems Engineering, v. 186, p. 337-348, 2019.)
Agri.q	Hybrid	Irregular	Soft	High	(*QUAGLIA. et al.,* 2020**QUAGLIA, G. et al. Design of a UGV Powered by Solar Energy for Precision Agriculture. Robotics, Multidisciplinary Digital Publishing Institute, v. 9, n. 1, p. 13, 2020.)

[1] *Author for correspondence

Brasil

Brasil

Veículos agrícolas terrestres não tripulados: uma revisão sob o ponto de vista da estabilidade

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