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Vertical Farming Automation�Progress Review 8

Team G

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Aditya Gaddipati | Bruce Kwangkyun Kim | Pallavi Madhukar |Vaidehi Patil | Steven Brills

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Sep 28th 2022

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Progress Review 8 Goals

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Finalize on Modular Tool Attachment

Complete YOLOv5 Training

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Add Tool Motors as an Extension of Robot API Class

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Complete Development and Testing of Pure-Pursuit Controller

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Navigation

Current Status

  • Development of pure-pursuit controller completed
  • Testing performed on square path

Future Work

  • Work on custom planner is in progress.

Challenges

  • The robot is not able to recognize the pots after every turn
    • Test getting the robot to a defined start position after every turn
    • Test a predetermined square row switch instead of an arc

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Video Demo of Controller on Test Path

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Pure-Pursuit Controller Demonstration on a Fixed Square Path

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Perception

Current Status

  • YoloV5 integrated with perception stack
  • Getting detection rate of 15 FPS on Hello robot (much better than previous 2FPS)
  • Wrote an initial script for running TensorRT inference on Jetson

Future Work

  • Integrated testing of perception stack with YOLOv5
  • Collect images from test environment and retrain the model for better detections

Challenges

  • Output form TensorRT engine should be properly interpreted (must understand what negative values are)
  • Need to build TensorRT engine for the robot now with new parameters such as input image_size from Intel camera.

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Manipulation

Current Status

  • Arm and lift movement has been corrected to reach 2D location
  • Base movement was explored to reach 3D location

Future Work

  • Reach 3D location - increase accuracy
  • Testing

Challenges

  • The camera loses view of the marker after the base moves, and the old pose is inaccurate for lift and arm movement

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Two Demonstrations where the Robot uses its Base to Adjust and Reach the Target Position

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Customized Tool

Current Status

  • New version of tool available
  • Tool added as an end-of-arm class

Future Work

  • Final tool (hardware freeze)
  • Testing tool action

Challenges

  • Pressure bends the cutter; thicker cutter will have to be reprinted
  • Motors running parallely

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Code Snippet of YAML Describing Child Tool Objects

Tool with Gripper and Cutter Open

Tool with Gripper and Cutter Closed