Agri-Sim: Agricultural Simulation Platform for Embodied Intelligence Evaluation in Greenhouse Robotics

2026-08-29

AI Summary

本文提出Agri-Sim平台，基于Unity和ROS2，解决农业机器人开发中需要的模拟环境问题，支持从导航到采摘任务的全流程仿真与评估。

Abstract

Agricultural-robot development requires simulation environments that can jointly support realistic scene construction, virtual sensing, autonomous navigation, motion planning, and manipulation-task execution. This paper presents Agri-Sim, a Unity and ROS2-based simulation platform for the closed-loop development and functional evaluation of agricultural robots. The platform contains a configurable tomato-greenhouse environment, a mobile dual-arm harvesting robot, virtual RGB-D, LiDAR, IMU, and joint sensors, and a bidirectional communication interface between Unity and ROS2. Unity is responsible for scene rendering, rigid-body dynamics, collision detection, virtual sensing, and task-state execution, whereas ROS2 and MoveIt 2 provide localization, navigation, collision-aware motion planning, inverse kinematics, and trajectory generation. Autonomous greenhouse navigation and dual-arm tomato harvesting were used to evaluate the complete simulation workflow. The experiments covered virtual sensor publication, ROS2-based navigation, collision-aware motion planning, mobile-base control, tomato acquisition, inter-arm handover, and box placement. The results demonstrate that Agri-Sim supports closed-loop integration and repeatable functional evaluation of navigation and manipulation workflows in a controlled virtual greenhouse, providing a practical foundation for subsequent algorithm development and Sim-to-Real studies.

Problem

• Agricultural-robot
• Simulation-environment
• Autonomous-navigation
• Motion-planning
• Manipulation-task

Innovation

• Agri-Sim
• Unity and ROS2-based
• closed-loop development
• virtual sensing
• dual-arm harvesting