Automation of work in cowsheds using mobile robots with haptic devices supported by virtual zones of influence

The paper presents issues related to virtual zones of influence coupled with a haptics device, which may be used in various types of agricultural mobile robots. These additional virtual zones allow to sense the objects - obstacles before physical contact of the mobile robot with it for to prevent possible collision in the changing work environments. The described control methods were implemented in the Microsoft Visual Studio environment with the use of C++ language and were tested using the Rovio mobile robot. The result of these tests may contribute to the development of new various types of agricultural mobile robots. The directions of further research are indicated in the conclusions of the paper.