IoT-Enabled Design and Kinematic Modeling of an Articulated 6WD/6WS Swerve-Drive Robotic Platform for Smart Agriculture

Mitta Velasquez J.S.; Pareja Contreras J.M.; Cayo E.H. · Proceedings - 2025 2nd International Conference on Electronic Circuits and Signaling Technologies, ICECST 2025 (2025) · DOI: 10.1109/icecst66106.2025.11307442

Resumen

This paper presents the design, kinematic modeling, and IoT-enabled embedded control of an articulated six-wheel-drive, six-wheel-steering (6WD/6WS) robotic platform tailored for smart agriculture in unstructured and confined environments, such as the small-scale plots of the Peruvian highlands. Developed through iterative prototyping, the final swerve-drive configuration integrates an articulated suspension for terrain adaptability with six independent swerve modules, offering omnidirectional mobility. A comprehensive kinematic model formalizes three steering modes-fully aligned (crab), zero-radius rotation, and double Ackermann-enabling precise control of the Instantaneous Center of Rotation (ICR). Structural feasibility was validated through Finite Element Analysis (FEA), achieving a safety factor above 3.0 under a 100 kg payload. The core innovation lies in a distributed, IoT-enabled control architecture built on a CAN bus network. An ESP32 master node handles inverse kinematics, telemetry, and communication with a Pixhawk 4 for RTK-GPS-based autonomous navigation. Six STM32F411 slave nodes provide closed-loop actuation for the twelve degrees of freedom (steering and traction per wheel). The platform supports manual, remote, and autonomous modes, with real-time cloud telemetry enabling diagnostics, performance monitoring, and future AI integration. This work demonstrates a robust, scalable solution for precision agriculture in challenging off-road conditions.

Instituciones: Universidad Católica San Pablo