An autonomous mobile manipulator for pheromone dispenser deployment - - PowerPoint PPT Presentation

β–Ά
an autonomous mobile manipulator for pheromone
SMART_READER_LITE
LIVE PREVIEW

An autonomous mobile manipulator for pheromone dispenser deployment - - PowerPoint PPT Presentation

Mar 01, 2023 426 likes β€’766 views

An autonomous mobile manipulator for pheromone dispenser deployment in vineyards G. Bardaro, L. Bascetta, G. Beri, M. Matteucci, F. Polito Politecnico di Milano, Department of Electronics Information and Boiengineering 3 Autonomous

slide-1
SLIDE 1

An autonomous mobile manipulator for pheromone dispenser deployment in vineyards

  • G. Bardaro, L. Bascetta, G. Beri, M. Matteucci, F. Polito

Politecnico di Milano, Department of Electronics Information and Boiengineering

slide-2
SLIDE 2

3

√ √

slide-3
SLIDE 3

Autonomous vineyard navigation

Vineyard variability

  • Slope & rough terrain-> Mapping
  • Soil -> Slipage and Odometry
  • Vegetation -> Obstacles

ROS tools improvement / tuning

  • Sensor fusion
  • Outdoor mapping
  • Local/global planners

4

Peccioli RIF

slide-4
SLIDE 4

Husky A200, Clearpath Robotics Jaco2, Kinova Robotics Frontal LIDAR for vineyard foliage monitoring RTK GPS IMU LIDAR RGB-D camera for manipulation

slide-5
SLIDE 5

Sensor fusion with robot_localization

6

𝑣𝑒

Prediction phase

𝑨𝑒

Correction phase

π‘¦π‘’βˆ’1 𝑦𝑒 𝑦𝑒 𝑦𝑒+1

𝑣𝑒+1

𝑦𝑒 = 𝑕 𝑣𝑒, π‘¦π‘’βˆ’1 + πœ—π‘’; 𝑨𝑒 = β„Ž(𝑦𝑒) + πœ€π‘’

slide-6
SLIDE 6
slide-7
SLIDE 7
slide-8
SLIDE 8
slide-9
SLIDE 9

Vineyard Mapping

10

Google Cartographer with robot_localization (Febraury 2017)

slide-10
SLIDE 10

Vineyard Mapping

11

ROS gmapping with robot_localization (Febraury 2017)

slide-11
SLIDE 11

Sensor fusion with ROAMFREE

12

𝑓𝑃𝐸𝑃

𝑦𝑒 𝑦𝑒+1 𝑦𝑒+2

𝑓𝐻𝑄𝑇

𝑦𝑒+3

𝑓𝑃𝐸𝑃 𝑓𝑃𝐸𝑃 𝑓𝑃𝐸𝑃 𝑓𝐻𝑄𝑇

𝑇𝐻𝑄𝑇

(𝑃)

𝑓𝑗(𝑒) = 𝑨(𝑒; 𝑦𝑇𝑗(𝑒), 𝜊) βˆ’ 𝑨 + πœƒ

slide-12
SLIDE 12

Vineyard Mapping

14

Google Cartographer with ROAMFREE (Febraury 2017)

slide-13
SLIDE 13

Vineyard Mapping

15

ROS Gmapping with ROAMFREE (Febraury 2017)

slide-14
SLIDE 14

Vineyard Mapping

16

ROS Gmapping with ROAMFREE (July 2017)

slide-15
SLIDE 15

Vineyard Mapping and Localization

17

ROS Gmapping with ROAMFREE (February 2017) In Peccili RIF we experienced jumps introduced by AMCL conflicting with GPS global pose in ROAMFREE

slide-16
SLIDE 16

Vineyard Mapping and Localization

18

Casciana Terme, Italy Garriguella, Spain

Highly symmetric environment Planning through vinestocks

slide-17
SLIDE 17

GRAPE Autonomous Navigation

19 Prohibition layer Husky base driver Laser/Velodyne Husky wheel

  • dometry

robot_localization Sensor transforms

teb_planner

RTK GPS IMU

slide-18
SLIDE 18

Navigation system results

slide-19
SLIDE 19

Navigation system results

21

slide-20
SLIDE 20

GRAPE manipulation challenges

Automatic deployment of ISONET L dispenser for mating disruption against Lobesia botrana

  • Manipulation of small/deformable objects
  • Use of existing ROS packages for

planning/control to speed up development

  • Visual-based control in challenging
  • utdoor light conditions

22

slide-21
SLIDE 21

Manipulation experimental setup

23

slide-22
SLIDE 22

Manipulation experimental setup

24

slide-23
SLIDE 23

Manipulation experimental setup

25

slide-24
SLIDE 24

Deploiment point detection

slide-25
SLIDE 25

Deploiment point detection

slide-26
SLIDE 26

Dispenser grasping

slide-27
SLIDE 27

Dispenser graping

slide-28
SLIDE 28

Plant deployment

slide-29
SLIDE 29

Plant deloyment

slide-30
SLIDE 30

Nail deployment

slide-31
SLIDE 31

Nail deployment

slide-32
SLIDE 32

An autonomous mobile manipulator for pheromone dispenser deployment in vineyards

  • G. Bardaro, L. Bascetta, G. Beri, M. Matteucci, F. Polito

Politecnico di Milano, Department of Electronics Information and Boiengineering