Design and Control of an Intelligent Mobile Gardening Robot Supported by Deep Learning-Based Image Processing

Mutez Rahal; Abdurrahman Elhac Abdullah; Hakan Çelik; Mehmet Kaya

doi:10.15832/ankutbd.1883925

Design and Control of an Intelligent Mobile Gardening Robot Supported by Deep Learning-Based Image Processing

Abstract

In this study, the design and control of a mobile gardening robot based on image processing and artificial intelligence were implemented. The system, running on Raspberry Pi 4B, can distinguish different plant species and weeds using a YOLOv5-based object detection and classification model; it performs tasks such as cutting weeds, watering useful plants, and moving autonomously while avoiding obstacles. Experiments conducted in a pot environment demonstrated that the robot can successfully perform plant detection, classification, and maintenance functions. With these features, the developed robot offers a low-cost and sustainable solution for small and medium-scale agricultural businesses. The mobile gardening robot designed within the scope of the study was experimentally tested for image processing-based plant recognition, autonomous plant orientation, plant cutting, and watering operations for different scenarios. When the results obtained were examined, it was seen that the developed deep learning-based plant detection model achieved an 82% mAP@50 success rate, while the plant classification model achieved a 92.9% mAP@50 success rate.

Keywords

References

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Details

Primary Language

English

Subjects

Intelligent Robotics, Agricultural Automatization

Journal Section

Research Article

Authors

Mutez Rahal
0009-0000-5819-5072
Türkiye

Abdurrahman Elhac Abdullah This is me
0009-0004-2298-9590
Türkiye

Hakan Çelik ^*
0000-0002-2861-3269
Türkiye

Mehmet Kaya
0000-0003-2995-8282
Türkiye

Publication Date

October 12, 2026

Submission Date

February 7, 2026

Acceptance Date

June 23, 2026

Published in Issue

Year 2026 Volume: 32 Number: 4

DOI

https://doi.org/10.15832/ankutbd.1883925

IZ

https://izlik.org/JA53JA54EK

Cite

RIS / Bibtex

APA

Rahal, M., Elhac Abdullah, A., Çelik, H., & Kaya, M. (2026). Design and Control of an Intelligent Mobile Gardening Robot Supported by Deep Learning-Based Image Processing. Journal of Agricultural Sciences, 32(4), 1149-1164. https://doi.org/10.15832/ankutbd.1883925

AMA

1.Rahal M, Elhac Abdullah A, Çelik H, Kaya M. Design and Control of an Intelligent Mobile Gardening Robot Supported by Deep Learning-Based Image Processing. J Agr Sci-Tarim Bili. 2026;32(4):1149-1164. doi:10.15832/ankutbd.1883925

Chicago

Rahal, Mutez, Abdurrahman Elhac Abdullah, Hakan Çelik, and Mehmet Kaya. 2026. “Design and Control of an Intelligent Mobile Gardening Robot Supported by Deep Learning-Based Image Processing”. Journal of Agricultural Sciences 32 (4): 1149-64. https://doi.org/10.15832/ankutbd.1883925.

EndNote

Rahal M, Elhac Abdullah A, Çelik H, Kaya M (October 1, 2026) Design and Control of an Intelligent Mobile Gardening Robot Supported by Deep Learning-Based Image Processing. Journal of Agricultural Sciences 32 4 1149–1164.

IEEE

[1]M. Rahal, A. Elhac Abdullah, H. Çelik, and M. Kaya, “Design and Control of an Intelligent Mobile Gardening Robot Supported by Deep Learning-Based Image Processing”, J Agr Sci-Tarim Bili, vol. 32, no. 4, pp. 1149–1164, Oct. 2026, doi: 10.15832/ankutbd.1883925.

ISNAD

Rahal, Mutez - Elhac Abdullah, Abdurrahman - Çelik, Hakan - Kaya, Mehmet. “Design and Control of an Intelligent Mobile Gardening Robot Supported by Deep Learning-Based Image Processing”. Journal of Agricultural Sciences 32/4 (October 1, 2026): 1149-1164. https://doi.org/10.15832/ankutbd.1883925.

JAMA

1.Rahal M, Elhac Abdullah A, Çelik H, Kaya M. Design and Control of an Intelligent Mobile Gardening Robot Supported by Deep Learning-Based Image Processing. J Agr Sci-Tarim Bili. 2026;32:1149–1164.

MLA

Rahal, Mutez, et al. “Design and Control of an Intelligent Mobile Gardening Robot Supported by Deep Learning-Based Image Processing”. Journal of Agricultural Sciences, vol. 32, no. 4, Oct. 2026, pp. 1149-64, doi:10.15832/ankutbd.1883925.

Vancouver

1.Mutez Rahal, Abdurrahman Elhac Abdullah, Hakan Çelik, Mehmet Kaya. Design and Control of an Intelligent Mobile Gardening Robot Supported by Deep Learning-Based Image Processing. J Agr Sci-Tarim Bili. 2026 Oct. 1;32(4):1149-64. doi:10.15832/ankutbd.1883925