Design of an Agricultural Robot for Indoor Quinoa Seeding Using Visible Light Positioning

Menacho D.; Vasquez A.; Carbajal R.; Lut J.-J.; Balbuena J.; Zuñiga Zamalloa M.; Quiroz D. · Lecture Notes in Networks and Systems (2026) · DOI: 10.1007/978-3-032-18982-0_32

Resumen

Given the growing necessity of indoor quinoa agriculture and the limitations of GPS in such environments, this article proposes a novel design for a greenhouse seeding robot that employs Visible Light Positioning (VLP) for localization. The robot integrates a seed distribution mechanism, a tillage implement, and a suspension system. To validate the design, the suspension behavior was simulated, structural analysis was performed, and a VLP experiment was conducted by projecting a colored grid with a high-intensity LED through birefringent material. The results showed a stabilization time of 2.06 s for the suspension system. In addition, the robot’s pose was estimated using four machine learning models, achieving accuracies ranging from 77.8% to 99.8% for grid position detection. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2026.

Instituciones: Pontificia Universidad Católica del Perú