Leaf Collection Robot
Autonomous Mobile Robotics with ROS2 & LiDAR SLAM
Project 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.
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 in Action
Key Features
ROS2-based autonomous navigation framework
Jetson Nano for real-time processing and navigation
LiDAR SLAM for 2D mapping and obstacle detection
ESP32 microcontroller for motor control and sensors
Encoder motors with PID control for precise movement
Custom mechanical design for leaf collection
Outdoor terrain navigation capability
Effective leaf collection and storage system
Technologies Used
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