System Overview
Developed an autonomous and manually controlled leaf-collection robot with the ROS2 framework, utilizing a Jetson Nano for high-level navigation and an ESP32 for real-time motor and encoder control. The robot achieves accurate localization and smooth, autonomous movement by integrating LiDAR-based Simultaneous Localization and Mapping (SLAM) to generate 2D maps, detect obstacles, and enable path following, alongside encoder-based odometry for sensor fusion. To ensure reliable debris pickup, a specific roller-collection mechanism was designed and precisely tuned.
Tech Stack
Autonomous Navigation
Full autonomous operation with LiDAR-based path planning
Leaf Collection
Effective leaf collection using roller mechanism
Dual Control
Both autonomous and manual control modes
Project Demo
Engineering Features
Built an autonomous and manually controlled leaf-collection robot using the ROS2 framework, combining a Jetson Nano for navigation with an ESP32 for real-time motor and encoder control.
Implemented LiDAR-based SLAM to generate 2D maps, detect obstacles, and enable autonomous path following.
Integrated encoder-based odometry with LiDAR data to achieve accurate localization and smooth autonomous movement.
Designed and tuned the motor-control and roller-collection mechanism to ensure reliable leaf pickup.
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