An innovative UWB-based RTLS robot for autonomous barn cleaning in smart farming

This paper presents the development and implementation of a robot prototype whose function is to automate the alleys cleaning operations within a barn, thus facilitating human labour. This robot moves into the barn according to sensors installed both on the robot itself and on the ceiling, so as to complete the trajectory it has to follow for cleaning operations; this is what makes this system a Real Time Locating System (RTLS), since the robot is mainly driven according to the sensors positioned inside the barn ceiling. The function of this robot, provided with ad hoc arms, is that of cleaning the area by converging and collecting cows’ manure. This manure is supposed to be re-used as fertilizer for the cultivated areas of the farm. The RTLS system in question is based on a commercial radio indoor positioning system, which leverages Ultra-Wide Band radio frequency to determine the exact position of the tags installed on the robot, so as to guide it. The barn selected for the implementation of this system is located in Parma, Northern Italy. The system shows higher accuracy than comparable solutions, with an average localization error of 0.30 m in the selected scenario. This project represents a novelty, since RTLS applications in the agri-food context are almost nil, and a similar solution does not exist.