The paper presents the design of a modular omnidirectional mobile robotic platform for greenhouse plant and fruit monitoring. The platform is conceived as a carrier for repeatable acquisition of spatially referenced RGBD data along plant rows and as a basis for later integration of manipulation modules. The mobile base uses four omnidirectional wheels, enabling planar holonomic motion required for alignment in narrow greenhouse corridors. The paper introduces the kinematic model of the mobile base, outlines the control and safety architecture, and specifies a vertical perception module based on four ZED X Mini stereo depth cameras. Each camera is paired with intensity-controlled panel illumination to improve repeatability under variable greenhouse lighting. The proposed architecture links mobility, perception and data management into a reconfigurable platform for plant monitoring, fruit detection, yield estimation and further robotic operations.
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