Conceptual Design, Analysis and Evaluation of a Low-cost Autonomous Mobile Robot for Citrus farming in South Africa

Conceptual Design, Analysis and Evaluation of a Low-cost Autonomous Mobile Robot for Citrus farming in South Africa | Authorea try { document.documentElement.classList.add('js'); } catch (e) { } var _gaq = _gaq || []; _gaq.push(['_setAccount', 'G-8VDV14Y67G']); _gaq.push(['_trackPageview']); (function() { var ga = document.createElement('script'); ga.type = 'text/javascript'; ga.async = true; ga.src = ('https:' == document.location.protocol ? 'https://ssl' : 'http://www') + '.google-analytics.com/ga.js'; var s = document.getElementsByTagName('script')[0]; s.parentNode.insertBefore(ga, s); })(); Skip to main content Preprints Collections Wiley Open Research IET Open Research Ecological Society of Japan All Collections About About Authorea FAQs Contact Us Quick Search anywhere Search for preprint articles, keywords, etc. Search Search ADVANCED SEARCH SCROLL This is a preprint and has not been peer reviewed. Data may be preliminary. 3 March 2025 V1 Latest version Share on Conceptual Design, Analysis and Evaluation of a Low-cost Autonomous Mobile Robot for Citrus farming in South Africa Authors : Philip Botha Smit 0009-0005-6556-985X [email protected] and Michael Ayomoh Authors Info & Affiliations https://doi.org/10.22541/au.174102159.99605378/v1 228 views 92 downloads Contents Abstract Supplementary Material Information & Authors Metrics & Citations View Options References Figures Tables Media Share Abstract The South African citrus industry is facing more and more difficulties due to strict agricultural export laws and more impending, pest and disease outbreaks, and large-scale farmers’ market dominance that marginalizes small and medium-sized producers. In order to improve small citrus farmers’ competitiveness and streamline adherence to phytosanitary regulations, this study proposes the conceptual design, analysis, and evaluation of a low-cost Autonomous Mobile Robot (AMR). The AMR’s ability to autonomously traverse citrus fields, particularly underneath trees, is a crucial component that allows for the early detection of pests and diseases from unusual perspectives, and combined with human intervention for analysis reduces the design cost significantly making it potentially accessible to all farmers in South Africa. In order to develop an optimised and cost-effective AMR, the research conducted feasibility studies, iterative cost-effectiveness analyses, and a systematic identification of the needs of smallholder farmers using a holistic conceptual design methodology based on systems engineering principles utilizing GENESYS Software. By combining object avoidance, geotagging, and multi-angle imaging features, the finished design enables South African citrus farmers to effectively record and track tree health with precision agriculture. The AMR can greatly increase the sustainability and financial sustainability of small citrus farms by offering a scalable and affordable substitute for current expensive agricultural automation systems. The results show that putting this technology into practice could improve market access for local farmers, lower operating expenses, increase the citrus industry’s resilience in South Africa, restabilizing the market, and reducing poverty in South Africa. Supplementary Material File (appendix a1.docx) Download 16.25 KB File (appendix a2.docx) Download 14.83 KB File (appendix a3.docx) Download 14.70 KB File (phiilip_botha_smit_masters_journal_v2.docx) Download 1.21 MB Information & Authors Information Version history V1 Version 1 03 March 2025 Copyright This work is licensed under a Non Exclusive No Reuse License. Keywords agricultural robotics autonomous robot navigation obstacle avoidance systems engineering Authors Affiliations Philip Botha Smit 0009-0005-6556-985X [email protected] University of Pretoria View all articles by this author Michael Ayomoh University of Pretoria View all articles by this author Metrics & Citations Metrics Article Usage 228 views 92 downloads .FvxKWukQNSOunydq8rnd { width: 100px; } Citations Download citation Philip Botha Smit, Michael Ayomoh. Conceptual Design, Analysis and Evaluation of a Low-cost Autonomous Mobile Robot for Citrus farming in South Africa. Authorea . 03 March 2025. DOI: https://doi.org/10.22541/au.174102159.99605378/v1 If you have the appropriate software installed, you can download article citation data to the citation manager of your choice. Simply select your manager software from the list below and click Download. For more information or tips please see 'Downloading to a citation manager' in the Help menu . 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