Autonomous Fruit Picking
1.0.0

Overview

  • Digital Twin Safety for HRI

Test Environments

  • Comparative Analysis
  • Isaac Simulation
  • Gazebo Classic
  • Gazebo Fortress

Safety Protocols

  • Robotic Protocols
  • Pertinent Standard: ISO 13482
  • Pertinent Standard: IEEE P7009

Data Protection Policies

  • Retail Robot Operations
  • Privacy Protection

Person Detection

  • ZED 2i Overview
  • ZED 2i Relevancy
  • ZED 2i Compatability

ROS2 Navigation

  • Nav2 Local & Global Planners
  • Nav2 Key Parameters
  • Nav2 Experimental Parameters

Experimentation

  • NavFn Planner + DWB Controller
  • NavFn Planner + MPPI Controller
  • NavFn Planner + RPP Controller
  • Theta* Planner + RPP Controller
  • SMAC Planner + MPPI Controller

Results

  • Nav2 Performance for Safety Scenarios
  • Nav2 Suitability for Different Robots
  • Nav2 Controller Suitability for Different Robots
  • Conclusion
Autonomous Fruit Picking
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