CONTROL OF A ROBOT CARRYING MINI BONSAI POTS FOR AGRICULTURAL APPLICATIONS

Abstract

In recent years, scientific research has focused on developing robotic control systems to improve work efficiency in agricultural settings, notably through techniques for human-tracking robot control. This study focuses on developing a robotic system to assist in transporting mini bonsai pots. This robot is not only responsible for carrying potted plants but is also designed to track human movement based on skeletal tracking, thereby improving flexibility and convenience in bonsai care activities. The study employs Human Pose Estimation technology to track the human skeletal structure. This method integrates image processing technology, and the PID algorithm, and uses the robot development platform from the Robot Operating System (ROS). The study successfully designed a robot capable of carrying mini bonsai pots, controlled using Human Pose Estimation technology combined with image processing and ROS. Experimental results show that the robot can track a person at a distance of 100 cm, with a deviation of approximately ±5% from the actual distance.