A UGV approach to measure the ground properties of greenhouses

Alberto Ruiz-Larrea, Juan Jesús Roldán*, Mario Garzón, Jaime Del Cerro, Antonio Barrientos

*Corresponding author for this work

Research output: Chapter in Book/Conference proceedings/Edited volumeConference contributionScientificpeer-review

8 Citations (Scopus)


Greenhouse farming is based on the control of the environment of the crops and the supply of water and nutrients to the plants. These activities require the monitoring of the environmental variables at both global and local scale. This paper presents a ground robot platform for measuring the ground properties of the greenhouses. For this purpose, infrared temperature and soil moisture sensors are equipped into an unmanned ground vehicle (UGV). In addition, the navigation strategy is explained including the path planning and following approaches. Finally, all the systems are validated in a field experiment and maps of temperature and humidity are performed.

Original languageEnglish
Title of host publicationRobot 2015
Subtitle of host publication2nd Iberian Robotics Conference - Advances in Robotics
EditorsLuís Paulo Reis, Pedro U. Lima, António Paulo Moreira, Victor Muñoz-Martinez, Luis Montano
Number of pages11
ISBN (Print)9783319271484
Publication statusPublished - 2016
Externally publishedYes
Event2nd Iberian Robotics Conference, ROBOT 2015 - Lisbon, Portugal
Duration: 19 Nov 201521 Nov 2015

Publication series

NameAdvances in Intelligent Systems and Computing
ISSN (Print)2194-5357


Conference2nd Iberian Robotics Conference, ROBOT 2015


  • Agriculture
  • Environmental monitoring
  • Greenhouse
  • Navigation system
  • Robotics
  • Sensory system
  • UGV


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